The most awesome Hexapod
With hardware (3D printed parts) based on Vorpal and software by Mattias Lasersköld and Philip Johansson.
Hardware
The controller for this project is an ESP32 which has WiFi and Bluetooth built in. To drive the servos the Adafruit PCA9685 is used.
Wiring
Use a 5V regulator of your choice. We are using the Hobbywing 2-3S 8A (15A peak) UBEC. This will power the motordriver and the ESP.
- Connect the regulator to the input of the servo driver.
- Connect ground and 5V from the servo driver to the ESP e.g. from an empty servo connector.
- Connect the driver and the ESP through I2C with SDA to IO21 on the ESP and SCL to IO22.
Software
Two files in this project have the extension .orig. This is so that they can be checked in with a default setting. These files need to be compied or moved to exclude this file extension. The files are:
- include/config.h.orig -> include/config.h
- include/settings.h.orig -> include/settings.h
settings.h contains settings most users will want to configure while config.h contains build specific flags and defines intended for developers.
WiFi
WiFi settings reside in settings.h
OSC (Open sound control) configuration
OSC settings reside in config.h
Remote alternatives
OSC Touch
OSCTouch by Hexler is an awesome tool for OSC & MIDI to use for mobile robot projects. Install the desktop and mobile application for your platforms and sync the included layout to your mobile device.
PS4 Controller
The PS4 controller can be connected using this guide.