Swift Spider Robot

Final project result

[](http://www.youtube.com/watch?v=5hAmD499sJs "Spider")

Requirements

Raspberry Pi 2+ or Raspberry Pi 3 Model B

Installing Dependencies

To use the provided prebuilt binaries you'll need the install the following dependencies:

sudo apt install clang libicu-dev libcurl4-nss-dev

Download last version swift ARM compatible with your board, see table:

Build Swift On ARM prebuilt-binaries

In this project test are using Swift 4.2.3

and Download

wget https://github.com/uraimo/buildSwiftOnARM/releases/download/4.2.3/swift-4.2.3-RPi23-RaspbianStretch.tgz

Unzip the files to a folder of your choice:

For example: /usr/local/swift-4.2.3/

After unzip, export path:

export PATH=/usr/local/swift-4.2.3/usr/bin:"${PATH}"

Test if everything went right run command:

swift --version

And the output should be like this:

Swift version 4.2.3 (swift-4.2.3-RELEASE)
Target: armv7-unknown-linux-gnueabihf

Build and Run

I'm running with user sudo due to permission errors in / dev /

sudo su

cd /home/maxi/SwiftProjects/Quadruped

export PATH=/usr/local/swift-4.2.3/usr/bin:"${PATH}"

swift build

swift run

3D printing parts

• Thingiverse project
• Instructables - Spider-RobotQuad

Scheme Raspberry Pi 2 model B

• Scheme PCA9685

This project updated the following libraries

• GitHub - SwiftyPCA9685 - @ccarnino
• GitHub - SMBus-swift - @Sephiroth87