https://github.com/adammck/hexapod

Golang program for my junky robot
https://github.com/adammck/hexapod

go hexapod printrbot raspberry-pi robot

Last synced: about 1 month ago
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Golang program for my junky robot

• Host: GitHub
• URL: https://github.com/adammck/hexapod
• Owner: adammck
• Created: 2014-09-23T13:44:08.000Z (over 10 years ago)
• Default Branch: master
• Last Pushed: 2018-10-05T15:29:48.000Z (over 6 years ago)
• Last Synced: 2025-03-30T15:04:30.809Z (2 months ago)
• Topics: go, hexapod, printrbot, raspberry-pi, robot
• Language: Go
• Homepage: https://vimeo.com/115932070
• Size: 1.53 MB
• Stars: 69
• Watchers: 11
• Forks: 9
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# Adam's Hexapod

This is the Go program which powers my hexapod. It runs on a Raspberry Pi B+, and is controlled by a Sony Sixaxis (PS3) controller. The hexapod itself is 50cm in diameter, and about 2kg. The chassis was 3d-printed with a Printrbot Simple Metal, and bolted to 24 Dynamixel AX-12A servos. Each leg has 4DOF, which makes the gait quite flexible.

Here's it is, as of June 2017:

![hexapod photo](http://i.imgur.com/9xvMpsR.jpg)

And here's an old GIF of it in action:

![hexapod standing up](https://i.imgur.com/YVEN3If.gif)

[More GIFs here](https://imgur.com/a/eXqIa).  

And [here's a video](https://vimeo.com/115932070).

## Hardware

* [Printrbot Simple Metal](http://printrbot.com/shop/assembled-simple-metal/) 3d printer

* [Dynamixel AX-12A](http://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx) servos

* [Raspberry Pi, Model B+](http://www.raspberrypi.org/products/model-b-plus/) computer

* [Sony Sixaxis](https://en.wikipedia.org/wiki/Sixaxis) controller

* [USB2AX](http://www.xevelabs.com/doku.php?id=product:usb2ax:usb2ax) dynamixel interface

* [SparkFun USB MicroB Breakout](https://www.sparkfun.com/products/10031)

* [RioRand LM2596](http://amzn.com/B008BHAOQO) voltage regulator

* [Kootek GY-521](http://a.co/0PT1ztv) gyro/accelerometer

* [Tiger 11.1v 2200mAh LiPo](http://www.trossenrobotics.com/3s-11v-2200mah-25c-lipo-battery) battery

* [Corsair RM450](http://a.co/aM8V92D) power supply

* [Edimax EW-7811Un](http://amzn.com/B003MTTJOY) wifi adapter

* [Medialink MUA-BA3](http://amzn.com/B004LNXO28) bluetooth adapter

* [JW Winco 353-20-24-M6-S-55](https://store.solutionsdirectonline.com/jw-winco-353-20-24-m6-s-55-vibration-isolation-mount-p9026.aspx) rubber feet

* [Microsoft LifeCam Cinema 720p](http://a.co/3BNVShU) camera

STL files are available at [adammck/hexapod-parts](https://github.com/adammck/hexapod-parts), but should not be considered usable for any purpose. It's more fun to design your own, anyway. Email me if you want the SketchUp files.

## Usage

1. Spend countless hours and dollars printing and assembling the hexapod. Be

   sure to blow up RPi and trap fingers between moving parts for authentic

   experience.

2. Provision the RPi using

   [adammck/headless-raspbian](https://github.com/adammck/headless-raspbian)

   and

   [adammck/hexapod-infra](https://github.com/adammck/hexapod-infra).

   It runs Raspbian Jessie with

   [QtSixa](http://qtsixa.sourceforge.net),

   the control program (this repo), and a few systemd services to glue

   everything together.

3. Flip the power switch to boot the hexapod. If you're running tethered with an

   external PSU, make sure that the power switch is off to isolate the LiPo

   before plugging it in.

4. Plug the Sixaxis controller in with a USB cable. You only have to do this

   once, to pair it with the Bluetooth adaptor. Give it a few seconds (to run

   sixpair), then unplug it.

5. Build and deploy:

        bin/pi-deploy main/main.go

   This requires Go to be installed with cross-compilation support for

   Linux/ARM. That's outside of the scope of this document, but it's easy.

6. Press the PS button to pair. The controller should rumble and flash its

   lights. The control program will now start, and the hexapod will initialize

   and stand up.

7. Use the left stick to translate, and L2/R2 to rotate. Various other buttons

   do other things.

8. Press Select and Start to shut down the servos and the RPi. Note that this

   doesn't entirely kill the power, so don't forget to disconnect the LiPo to

   avoid damaging it.

   Shut down remotely by running:

        bin/pi-poweroff

    Shutdown will automatically occur (with no warning) when the battery drops

    below 9.6 volts. This is to protect the LiPo. My 2200mAh battery usually

    lasts about 15 minutes on a full charge.

## License

MIT