# The most awesome Hexapod With hardware (3D printed parts) based on [Vorpal](https://www.vorpalrobotics.com/wiki/index.php?title=Vorpal_The_Hexapod) and software by Mattias Lasersköld and Philip Johansson. ## Hardware The controller for this project is an [ESP32](https://www.espressif.com/en/products/hardware/esp32-devkitc/overview) which has WiFi and Bluetooth built in. To drive the servos the [Adafruit PCA9685](https://learn.adafruit.com/16-channel-pwm-servo-driver?view=all) is used. ### Wiring Use a 5V regulator of your choice. We are using the [Hobbywing 2-3S 8A (15A peak) UBEC](https://www.banggood.com/Hobbywing-2-3S-External-8A-MAX-15A-UBEC-Switch-Mode-p-1030910.html?rmmds=search&cur_warehouse=CN). This will power the motordriver and the ESP. 1. Connect the regulator to the input of the servo driver. 1. Connect ground and 5V from the servo driver to the ESP e.g. from an empty servo connector. 1. 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](https://hexler.net/products/touchosc) *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.](https://techtutorialsx.com/2020/02/15/esp32-connecting-a-ps4-controller/)