Download and install BowlerStudio. 

http://commonwealthrobotics.com/

Open BowlerStudio and login with your Github username and password. 

Open the SmallKat Model from the menu in BowlerStudio:

Add Device -> Creatures ->SmallKat Grace

A simulation of your robot will open on the 3d window. You can make it walk using the arrows in the top right of the Creature Lab tab.

To start you see the configuration viewer for your SmallKat. To see the cad select the radio button for CAD in the upper left corner of the MediumKat tab. 

Follow these instructions to install Sloeber with the esp32 toolchain bundled: https://github.com/WPIRoboticsEngineering/RobotInterfaceBoard/blob/master/InstallEclipse.md

All STL's can be found here:

https://github.com/OperationSmallKat/SmallKat_V2/releases/download/0.0.2/Cat.STLs.1.zip

Install the dependent libraries:

ESP32Servo

SimplePacketComs

Esp32SimplePacketComs

Esp32WifiManager

Adafruit Unified Sensor

Adafruit_BNO055

Program the ESP32 your Fork (or clone) of the server for the ESP:

https://github.com/madhephaestus/ESP32ServoServer

Follow these instructions for opening the forked project in Sloeber:

https://github.com/WPIRoboticsEngineering/RobotInterfaceBoard/blob/master/UseEclipse.md

Use the instructions here to attach it to a wifi network or host a network:

https://github.com/madhephaestus/Esp32WifiManager

The 3 ESC's should be used to power the system. One should power the ESP32 using the 5v in pin. One should power half the servos and the third should power the rest of the servos. 

Image Credit @jtechs 

Follow these instructions:

https://github.com/OperationSmallKat/SmallKat_V2/releases/download/0.0.2/Catbot.build.instructions.pdf

Attach the servos on the following pins:

RearLeft

1. basePan = 2
2. baseTilt = 4
3. elbow = 15

FrontRight 

1. basePan = 5
2. baseTilt = 17
3. elbow = 16

FrontLeft 

1. basePan = 23
2. baseTilt = 19
3. elbow = 32

RearRight 

1. basePan = 13
2. baseTilt = 12
3. elbow = 14

Head 

1. basePan = 27
2. baseTilt = 26

Tail 

1. basePan = 33
2. baseTilt = 25

Assemble all small cat plastic pieces with servos. 

Use these instructions:

https://github.com/OperationSmallKat/SmallKat_V2/releases/download/0.0.2/Catbot.build.instructions.pdf

Don't forget to keep the IMU in this orientation:

In the creature lab, click on Edit Walking Engine to open the waking engine script. Adjust the parameters to change how your SmallKat walks. 

Get a second ESP32 and install the following libraries:

WiiChuck
Esp32SimplePacketComs
Esp32WifiManager
SimplePacketComs
ESP32Servo
EspWii

Open Controller Server from the EspWii examples and program it. 

Connect and Wii accessory to the i2c ports. 

Use the serial to connect it to WiFi

Run launch.groovy