- This Hexapod frame is a PhantomX AX Mark3 with the Dynamixel AX12A servo motors from Trossen Robotics.
- I am using the FRDM K82F ARM based micro controller from NXP/Freescale
- The control signal is received using a ESP8266-01, which is connected to the K82F vis UART
- The control signal is a UDP Datagram of a specific length
- Total length of 10 bytes plus delimiter
- Bytes 0-1: Mode bitmask
- Bytes 2-5: Left X and Y values
- Bytes 6-9: Right X and Y values
- Delimiter is #
| Mode | 16 Bit binary |
|---|---|
| WALKING | 0000000000000001 |
| RISE_BODY | 0000000000000010 |
| WAVE_HAND | 0000000000000100 |
| Gait | 16 Bit binary |
|---|---|
| WAVE | 1000000000000000 |
| RIPPLE | 0100000000000000 |
| TRIPOD | 0010000000000000 |