Project-Hexapod
Provides an API for programming a hexapod.
Current Status
- alpha, see Feature List
Latest Changes
- test script for moving forward added
- Expanded MathLibrary (LinearFunction)
- Added method (not tested) to calculate longest distance one feet can go following a linear function -> will be used to calculate linearMovement
- new API for different gaits (not finished)
Features
- Control each leg through Inverse Kinematics
- Legs follow a quadratic function when moving (up to 254 intermediate steps)
- test script for moving forwars
- Performant i2c/twi library and uart library, no need for Arduino dependencies
- X86_64 modus: Compiles for x86_64 (for example to write a simulation with the calculated points)
Next Steps
- LinearMovement can be calcuated
- Finish Gait API
- Add some test scripts for translation and rotation of the hexapod
- Add enhancements for controlling the Hexapod (Web, joystick ...)
Dependencies
- avr-g++
- avrdude
- avr-libc
- g++ compiler (if you want to debug it on your computer)
Requirements (Debian / Ubuntu)
-
Install all Dependencies
- $ sudo apt install gcc-avr
- $ sudo apt install avrdude
- $ sudo apt install avr-libc
-
give yourself access to the ttyUSB0 port (if you don't have them already)
- $ sudo adduser dialout
- restart session or reboot
Configuration
--- Will be added ---
Usage
--- Will be added ---
Team
@Leon0402 (Project manager)
@Grifting
@mirdoga
@GhostJumper