SpiderRoy

self made Hexapod

for current Info and Contact see

[https://github.com/Neuroplant/SpiderRoy](https://github.com/Neuroplant/SpiderRoy)

Intro

Before assembling SpiderRoy and the servos it will be usefull to bring all Servos to middle position.

To help you with this I wrote "ServoInit" all this prog does is to set the servos to the middle.

After assembling the hexapod you will have to run "ServoData".

This prog helps you to set the minimum and maximum for each servo.

Let me mention, for the Shoulder-Servo min means to the back and min means to the front,

for the upper arm min is down and max is up,

for the lower arm/foot min is close to the body max is away from the body.

Another thing this program helps you with is to identify the servos, see "ServoPosition.png" for the Servo numbers.

The program creates a file named "I2CServos.txt" that you have to copy to the SpiderRoy folder before compiling "Walker.c".

Hardware

1 RaspberryPI 2 16 Channel PWM board 20 Microservo Power Supply 5V (more than 2A!) e.g. 2 18650 Akku 1 Batteryholder 1 Downstepper (5V 12A) ServoNr BeinNr JointNr ======================

0 0 0 1 0 1 2 0 2 (not used, maybe for a clamp-upgrade some time) 3 1 0 4 1 1 5 1 2 6 2 0 7 2 1 8 2 2 9 3 0 10 3 1 11 3 2 12 4 0 13 4 1 14 4 2 15 5 0 16 5 1 17 5 2 18 6 0 19 6 1 20 6 2 Die Nummer eines Servos ist somit = BeinNr*3 + JointNr

Anordnung der Beine:

0 (Kopf) 1 2 (Vorne links, Vorne Rechts) 3 4 (...) 5 6 (...) JointSchema: ============

01 2 0 - Schulter vor/zurück

1 - Schulter hoch/runter

2 - Knie rein/raus

Install:

Prerequisites: [http://wiringpi.com/download-and-install/](http://wiringpi.com/download-and-install/)

1. Connect I2C PWM Board to Raspberry

"make ServoInit" "sudo ./ServoInit" connect all Servos one by one to the Board to move them to middle Position.

2. Assemble Spiderroy

"make ServoData" "sudo ./Servodata" Set the min/max and Number for all Servos

3. "make Walker"

"sudo ./Walker 12" Usage: ======

sudo ./Walker [command1, command2, ..] commands: 10 Stomp CW 11 Stomp CCW 12 Sprawl 13 Sway 20 Center head 21 Nod head 22 Shake head 30 put legs apart 31 one stepp forward a 32 one stepp forward b 33 one stepp back a 34 one stepp back b 35 turn right a 36 turn right b 37 turn left a 38 turn left b Beinhaltung (LegPos) ====================

0 -> Neutral

1 -> Vorne Unten Stand 2 -> Mitte Unten Stand 3 -> Hinten Unten Stand 4 -> Vorne Mitte Stand 5 -> Mitte Mitte Stand (Neutral) 6 -> Hinten Mitte Stand 7 -> Vorne Hoch Stand 8 -> Mitte Hoch Stand 9 -> Hinten Hoch Stand

10 -> Vorne Hoch Rein 11 -> Mitte Hoch Rein 12 -> Hinten Hoch Rein 22 -> Vorne Mitte Rein 23 -> Mitte Mitte Rein 24 -> Hinten Mitte Rein 19 -> Vorne Unten Rein 20 -> Mitte Unten Rein 21 -> Hinten Unten Rein

16 -> Vorne Hoch Raus 17 -> Mitte Hoch Raus 18 -> Hinten Hoch Raus 25 -> Vorne Mitte Raus 27 -> Mitte Mitte Raus 28 -> Hinten Mitte Raus 13 -> Vorne Unten Raus 14 -> Mitte Unten Raus 15 -> Hinten Unten Raus Bewegungen ==========

Standard Bewegungen je Bein

1 -> setze fuß vor 2 -> setze Fuß zur Mitte 3 -> setze fuß zurück 4 -> ziehe fuß vor 5 -> ziehe fuß zur mitte 6 -> ziehe fuß zurück

Dance Moves

10 -> a stomp 11 -> b stomp 12 -> Räkeln 13 -> schunkeln 14 -> Jump 15 -> start position 16 -> Swim

Head moves

20 -> Center 21 -> Nod 22 -> Shake 23 -> Sniff

Gehen

30 -> breitbeinig stellen 31 -> a Schritt vor 32 -> b Schritt vor 33 -> a schritt zurück 34 -> b schritt zurück 35 -> a drehe rechts 36 -> b drehe rechts 37 -> a drehe links 38 -> b drehe links

Category: Robotics