SpiderRoy self made Hexapod

for current Info and Contact see

https://neuroplant.spdns.de/blog/category/roboter/

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
1	Pappelsperrholz A3 3mm
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/

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