A hexapod robot built on an Arduino Mega 2560 R3 (AVR ATmega2560) written in C.
Please see the complete documentation of the build process on my blog at the following link: http://blog.lennyevans.net
The model is available in exported formats in this repo or online at Tinkercad (it is not ready for 3D printing): https://tinkercad.com/things/i91TkKbNDc9
The motion function uses the servo_interval variable to determine how many degrees each servo should move at a time on the way to completing a motion. It also uses the servo_speed variable to determine how frequently each servo should move.
"[" or "]" | Increase/decrease servo speed - Rocco continues executing a motion every "servo_speed" milliseconds until motion is complete
"s###" | Set a three digit servo speed (default is 25ms, maximum 999ms)
"i##" | Set a two digit servo interval (default is 32 which is the maximum value)
"p" | Toggle usage of potentiometer for reading the servo interval (potentiometer is used by default)
"j##" | Select a servo using a two digit servo number
"," (the "<" key) | Select previous servo
"." (the ">" key) | Select next servo
"k" | "Knock" selected servo (move +5 degrees then -5 degrees just to see which servo is selected)
"a###" | Set the angle of current servo, requires three digit angle (add leading zeros if necessary)
"g" | Get angle of selected servo
"m##" (00-16 currently) | Execute preset motion
"+" | Selected servo plus 5 degrees
"-" | Selected servo minus 5 degrees
"d" | Disconnect selected servo (reset required to reconnect)
"r" | Reset