38 lines
2.1 KiB
Markdown
38 lines
2.1 KiB
Markdown
# The most awesome Hexapod
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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.
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## Hardware
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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.
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To drive the servos the [Adafruit PCA9685](https://learn.adafruit.com/16-channel-pwm-servo-driver?view=all) is used.
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### Wiring
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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.
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1. Connect the regulator to the input of the servo driver.
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1. Connect ground and 5V from the servo driver to the ESP e.g. from an empty servo connector.
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1. Connect the driver and the ESP through *I2C* with SDA to IO21 on the ESP and SCL to IO22.
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## Software
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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:
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* include/config.h.orig -> include/config.h
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* include/settings.h.orig -> include/settings.h
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**settings.h** contains settings most users will want to configure while **config.h** contains build specific flags and defines intended for developers.
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### WiFi
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WiFi settings reside in settings.h
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### OSC (Open sound control) configuration
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OSC settings reside in config.h
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<!-- Not with platformIO?
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### Dependencies
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Some libraries needs to be installed before building:
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* Adafruit PWM Servo Driver Library *by Adafruit*
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* OSC *by Adrian Freed*
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-->
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## Remote alternatives
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### OSC Touch
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[OSCTouch](https://hexler.net/products/touchosc) *by Hexler* is an awesome tool for OSC & MIDI to use for mobile robot projects.
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Install the desktop and mobile application for your platforms and sync the included layout to your mobile device.
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### PS4 Controller
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The PS4 controller can be connected using [this guide.](https://techtutorialsx.com/2020/02/15/esp32-connecting-a-ps4-controller/) |