Hexapod servo test 2

It's alive! 12 servos running on a PCA9685 board

[@obelusstem199]

This design is amazing! I like how you have only two servos per limb

[@ukrainerobotics]

Great job!

[@JASMVNT]

How you guys do this! It's Amazoing.👍👍

[@GCKteamKrispy]

How did you remove jittering of these servos?

[@Anime-zp9gd]

Which servos are used

[@waynew6707]

Is that running a canned cycle or are you controlling the movement?

[@Pathan_aamir2212]

Is it ready

[@RomanGen1]

are sg90 can handle such weight ?

[@jerryhanna7869]

There are always 4 of the legs on the ground so the weight is always split between multiple sg90s.

[@xs1l3n7x]

That looks really good.
Are the 3d printed parts available to anyone?

[@jerryhanna7869]

Sure. www.thingiverse.com/thing:3629836

[@marshallsober]

can you share the 3d model ? it seems like the best ive seen.

[@jerryhanna7869]

www.thingiverse.com/thing:3629836

[@surendarmalai96]

yo can i get the files used to design this? building one rn

[@jerryhanna7869]

www.thingiverse.com/thing:3629836

[@khaledmostafa9980]

Hi buddy i have this robot as a project in my collage can you just gimme any link for anyone can build amazing code ?

[@jerryhanna7869]

Here's the main code...
#include
#include
#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_MODULE
#include
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
int DELAY_BETWEEN_MOVES = 10;
int staticpos = 375;
int delta1 = 120;
int delta2 = 50;
int delta3 = 38;
unsigned char direction = 'h';
unsigned char previousdirection = 'h';
void setup()
{
pwm.begin();
Dabble.begin(9600);
pwm.setPWMFreq(60);
zeropoz();
delay(3000);
}
void loop()
{
previousdirection = direction;
getdir();

switch(direction)
{
case 'U' :
forward();
break;
case 'D' :
backward();
break;
case 'L' :
turnleft();
break;
case 'R' :
turnright();
break;
case '-' :
if(DELAY_BETWEEN_MOVES = 10)
DELAY_BETWEEN_MOVES -= 5;
direction = previousdirection;
break;
case 'h' :
zeropoz();
break;

default :
forward();
}
}
void getdir()
{
Dabble.processInput();
if (GamePad.isUpPressed()) {
direction = 'U';
}
if (GamePad.isDownPressed()) {
direction = 'D';
}
if (GamePad.isLeftPressed()) {
direction = 'L';
}
if (GamePad.isRightPressed()) {
direction = 'R';
}
if (GamePad.isSquarePressed()) {
direction = 'h';
}
if (GamePad.isCirclePressed()) {
direction = previousdirection;
}
if (GamePad.isCrossPressed()) {
direction = '-';
}
if (GamePad.isTrianglePressed()) {
direction = '+';
}
if (GamePad.isStartPressed()) {
direction = previousdirection;
}
if (GamePad.isSelectPressed()) {
direction = previousdirection;
}
}
void zeropoz()
{
pwm.setPWM(0, 0, 375);
pwm.setPWM(1, 0, 375);
pwm.setPWM(2, 0, 375);
pwm.setPWM(3, 0, 375);
pwm.setPWM(4, 0, 375);
pwm.setPWM(5, 0, 375);
pwm.setPWM(6, 0, 375);
pwm.setPWM(7, 0, 375);
pwm.setPWM(8, 0, 375);
pwm.setPWM(9, 0, 375);
pwm.setPWM(10, 0, 375);
pwm.setPWM(11, 0, 375);
pwm.setPWM(12, 0, 375);
}
void walkpoz()
{
int pdelta1 = 60;
pwm.setPWM(0, 0, 375);
pwm.setPWM(1, 0, 375);
pwm.setPWM(2, 0, 375-pdelta1);
pwm.setPWM(3, 0, 375);
pwm.setPWM(4, 0, 375+pdelta1);
pwm.setPWM(5, 0, 375);
pwm.setPWM(6, 0, 375);
pwm.setPWM(7, 0, 375);
pwm.setPWM(8, 0, 375-pdelta1);
pwm.setPWM(9, 0, 375);
pwm.setPWM(10, 0, 375+pdelta1);
pwm.setPWM(11, 0, 375);
}
void forward()
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Bw();
delay(DELAY_BETWEEN_MOVES);
Group1Fw();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Bw();
delay(DELAY_BETWEEN_MOVES);
Group2Fw();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void backward()
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Fw();
delay(DELAY_BETWEEN_MOVES);
Group1Bw();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Fw();
delay(DELAY_BETWEEN_MOVES);
Group2Bw();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void turnleft(void)
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Right();
delay(DELAY_BETWEEN_MOVES);
Group1Left();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Right();
delay(DELAY_BETWEEN_MOVES);
Group2Left();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void turnright(void)
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Left();
delay(DELAY_BETWEEN_MOVES);
Group1Right();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Left();
delay(DELAY_BETWEEN_MOVES);
Group2Right();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void Group1Up()
{
for(int jk=375+delta2; jk>=375-delta1; jk--)
{
pwm.setPWM(1, 0, jk); //knee left back
pwm.setPWM(5, 0, jk); //knee left front
pwm.setPWM(9, 0, jk); //knee right middle
}
}
void Group2Up()
{
for(int jk=375+delta2; jk>=375-delta1; jk--)
{
pwm.setPWM(3, 0, jk); //knee left middle
pwm.setPWM(7, 0, jk); //knee right front
pwm.setPWM(11, 0, jk); //knee righ back
}
}
void Group1Down()
{
for(int jk=375-delta1; jk

[@josemunoz-ev3dt]

U still have the code? Would u share it? 😢

[@jerryhanna7869]

#include
#include
#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_MODULE
#include
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
int DELAY_BETWEEN_MOVES = 10;
int staticpos = 375;
int delta1 = 120;
int delta2 = 50;
int delta3 = 38;
unsigned char direction = 'h';
unsigned char previousdirection = 'h';
void setup()
{
pwm.begin();
Dabble.begin(9600);
pwm.setPWMFreq(60);
zeropoz();
delay(3000);
}
void loop()
{
previousdirection = direction;
getdir();

switch(direction)
{
case 'U' :
forward();
break;
case 'D' :
backward();
break;
case 'L' :
turnleft();
break;
case 'R' :
turnright();
break;
case '-' :
if(DELAY_BETWEEN_MOVES = 10)
DELAY_BETWEEN_MOVES -= 5;
direction = previousdirection;
break;
case 'h' :
zeropoz();
break;

default :
forward();
}
}
void getdir()
{
Dabble.processInput();
if (GamePad.isUpPressed()) {
direction = 'U';
}
if (GamePad.isDownPressed()) {
direction = 'D';
}
if (GamePad.isLeftPressed()) {
direction = 'L';
}
if (GamePad.isRightPressed()) {
direction = 'R';
}
if (GamePad.isSquarePressed()) {
direction = 'h';
}
if (GamePad.isCirclePressed()) {
direction = previousdirection;
}
if (GamePad.isCrossPressed()) {
direction = '-';
}
if (GamePad.isTrianglePressed()) {
direction = '+';
}
if (GamePad.isStartPressed()) {
direction = previousdirection;
}
if (GamePad.isSelectPressed()) {
direction = previousdirection;
}
}
void zeropoz()
{
pwm.setPWM(0, 0, 375);
pwm.setPWM(1, 0, 375);
pwm.setPWM(2, 0, 375);
pwm.setPWM(3, 0, 375);
pwm.setPWM(4, 0, 375);
pwm.setPWM(5, 0, 375);
pwm.setPWM(6, 0, 375);
pwm.setPWM(7, 0, 375);
pwm.setPWM(8, 0, 375);
pwm.setPWM(9, 0, 375);
pwm.setPWM(10, 0, 375);
pwm.setPWM(11, 0, 375);
pwm.setPWM(12, 0, 375);
}
void walkpoz()
{
int pdelta1 = 60;
pwm.setPWM(0, 0, 375);
pwm.setPWM(1, 0, 375);
pwm.setPWM(2, 0, 375-pdelta1);
pwm.setPWM(3, 0, 375);
pwm.setPWM(4, 0, 375+pdelta1);
pwm.setPWM(5, 0, 375);
pwm.setPWM(6, 0, 375);
pwm.setPWM(7, 0, 375);
pwm.setPWM(8, 0, 375-pdelta1);
pwm.setPWM(9, 0, 375);
pwm.setPWM(10, 0, 375+pdelta1);
pwm.setPWM(11, 0, 375);
}
void forward()
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Bw();
delay(DELAY_BETWEEN_MOVES);
Group1Fw();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Bw();
delay(DELAY_BETWEEN_MOVES);
Group2Fw();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void backward()
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Fw();
delay(DELAY_BETWEEN_MOVES);
Group1Bw();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Fw();
delay(DELAY_BETWEEN_MOVES);
Group2Bw();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void turnleft(void)
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Right();
delay(DELAY_BETWEEN_MOVES);
Group1Left();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Right();
delay(DELAY_BETWEEN_MOVES);
Group2Left();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void turnright(void)
{
Group1Up();
delay(DELAY_BETWEEN_MOVES);
Group2Left();
delay(DELAY_BETWEEN_MOVES);
Group1Right();
delay(DELAY_BETWEEN_MOVES);
Group1Down();
delay(DELAY_BETWEEN_MOVES);
Group2Up();
delay(DELAY_BETWEEN_MOVES);
Group1Left();
delay(DELAY_BETWEEN_MOVES);
Group2Right();
delay(DELAY_BETWEEN_MOVES);
Group2Down();
delay(DELAY_BETWEEN_MOVES);
}
void Group1Up()
{
for(int jk=375+delta2; jk>=375-delta1; jk--)
{
pwm.setPWM(1, 0, jk); //knee left back
pwm.setPWM(5, 0, jk); //knee left front
pwm.setPWM(9, 0, jk); //knee right middle
}
}
void Group2Up()
{
for(int jk=375+delta2; jk>=375-delta1; jk--)
{
pwm.setPWM(3, 0, jk); //knee left middle
pwm.setPWM(7, 0, jk); //knee right front
pwm.setPWM(11, 0, jk); //knee righ back
}
}
void Group1Down()
{
for(int jk=375-delta1; jk

[@josemunoz-ev3dt]

@@jerryhanna7869 luv u so much!!
how could I thank you