# <img src="./imgs/hexapod-logo.svg" alt="logo" width="64"/> Hexapod
A Hexapod Robot using Raspberry Pi Zero W
## Introduction
This is a hexapod robot based on [Smallp Tsai ](https://github.com/SmallpTsai )'s [hexapod-v2-7697 ](https://github.com/SmallpTsai/hexapod-v2-7697 ) project.
This project reused most of the mechanism design in the original project, but with a totally redesign on the circuits and softwares.
The table below shows the difference between this project and the original one.
| | Original hexapod-v2-7697 | This project |
| --------------- | ------------------------ | ----------------------------------------------- |
| Controller | Linkit 7697 | Raspberry Pi Zero W or Raspberry Pi Zero W 2 |
| PWM control | Custom circuit board | 2 x PCA9685 motor driver boards |
| DC-DC | 7 x mini360 modules | 2 x XL4005 5A Max DC-DC modules and 1 x mini360 |
| Power | 2S Lipo battery | 2 x 18650 batteries |
| Remote | BLE | WiFi |
| Remote software | Android and iOS | PC, Android (WIP) |
## Skill requirement
If you want to make one hexapod by yourself. You should at least knows how to:
* Mechanism part
* Use `3D printer` to print a model.
* Able to adjust 3D model to fit your custom need.
* Electronics
* Make a `PCB` (suggest to use professional PCB services)
* Soldering `SMD` component (0805 and TSSOP28)
* How to use/charge/store `LIPO batteries`
* Software
* Use `Linkit 7697` (ie. upload and run any program)
* Use `LRemote` to communicate 7697 and your mobile phone
## Table of Content
1. [Mechanism ](mechanism/ ) - How to build the body
1. [Electronics ](electronics/ ) - Circuit explanation
1. [Software ](software/ ) - The software running on Linkit 7697
