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Zhengyu Peng 2021-12-30 10:39:55 -05:00
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README.md

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# Hexapod # Hexapod
<img src="./imgs/hexapod-logo.svg" alt="logo" width="200"/>
![banner](files/hexapod.jpg) ![banner](files/hexapod.jpg)
Hexapod using Raspberry Pi Zero W A Hexapod Robot using Raspberry Pi Zero W
This is a Hexapod project. You can use any mobile phone (iOS or Android) to control the movement of the hexapod (move forward, backward, etc.).
You can use any mobile phone (iOS or Android) to control the movement of hexapod (move foreward, backward, etc...).
## Brief introduction ## Brief introduction
* **Remote control** is done via `BLE` of `Linkit 7697` * **Remote control** is done via `BLE` of `Linkit 7697`
* It has 6 legs, each leg has 3 joint. So there are total `18` **Servo motors** (TowerPro `MG92B`) * It has 6 legs, each leg has 3 joints. So there are total `18` **Servo motors** (TowerPro `MG92B`)
* Linkt 7697 dont have so many **PWM control**, so NXP `PCA9685` x 2 are used to control these servo motors * Linkt 7697 dont have so many **PWM control**, so NXP `PCA9685` x 2 are used to control these servo motors
* **Power** comes from a `2S Lipo battery (7.4v)`. Also 7 x `mini360 DC-DC` step down voltage regulator are used. One to provide `5V` to Linkit 7697, The other six to provide `6V` to each legs (1 mini360 serve 3 servo) * **Power** comes from a `2S Lipo battery (7.4v)`. Also 7 x `mini360 DC-DC` step down voltage regulator are used. One to provide `5V` to Linkit 7697, The other six to provide `6V` to each legs (1 mini360 serve 3 servo)
* The **body** is 3D printed PLA. I use `Prusa i3 MK2S`, a really good 3D printer. * The **body** is 3D printed PLA. I use `Prusa i3 MK2S`, a really good 3D printer.
@ -35,5 +35,5 @@ If you want to make one hexapod by yourself. You should at least knows how to:
## Table of Content ## Table of Content
1. [Mechanism](mechanism/) - How to build the body 1. [Mechanism](mechanism/) - How to build the body
1. [Electronics](electronics/) - Circuit explanition 1. [Electronics](electronics/) - Circuit explanation
1. [Software](software/) - The software running on Linkit 7697 1. [Software](software/) - The software running on Linkit 7697

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software/README.md

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# Software # Software
Software contain 2 parts, one is software of running on Linkt 7697 (an arduino C++ program), another is path generation (a python program). Software contains 2 parts, one is software of running on Linkt 7697 (an arduino C++ program), another is path generation (a python program).
* hexapod7697: an arduino program running on Linkit 7697 * hexapod7697: an arduino program running on Linkit 7697
* pathTool: a python program that generate 3D points header, included by `hexapod7697` * pathTool: a python program that generate 3D points header, included by `hexapod7697`