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