# <img src="./imgs/hexapod-logo.svg" alt="logo" width="64"/> Hexapod

A Hexapod Robot using Raspberry Pi Zero W

![banner](imgs/banner.jpg)

## 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 designs in the original project, but with a totally redesign on the circuits and softwares.

* **Remote control** is done via `BLE` of `Linkit 7697`
* 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
* **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.
* Everything (3D STL, PCB schematic, 7697 source code) are included in the project under **GPL license**, Happy making!

## 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