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