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https://github.com/ggldnl/hexapod-operator
Servo2040 firmware for my hexapod robot
https://github.com/ggldnl/hexapod-operator
hexapod hexapod-robot raspberry-pi rp2040 servo-controller
Last synced: about 2 months ago
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Servo2040 firmware for my hexapod robot
- Host: GitHub
- URL: https://github.com/ggldnl/hexapod-operator
- Owner: ggldnl
- License: bsd-3-clause
- Created: 2024-09-05T14:00:29.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2024-09-11T09:18:00.000Z (3 months ago)
- Last Synced: 2024-10-31T13:04:39.935Z (about 2 months ago)
- Topics: hexapod, hexapod-robot, raspberry-pi, rp2040, servo-controller
- Language: C++
- Homepage:
- Size: 34.2 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Hexapod Operator
My robot consists of two parts: a Controller and an Operator. The Controller is responsible for generating commands, which are then sent to the Operator for execution. I used a Raspberry Pi as Controller and a Servo2040 board as Operator, for handling low-level control of the hexapod's servos.
This repository contains the firmware for the Servo2040 board.
For a complete overview of the project refer to the [main Hexapod repository](https://github.com/ggldnl/Hexapod.git). Take also a look to the [repository containing the Controller's code](https://github.com/ggldnl/Hexapod-Controller.git).
[Here](protocol.md) you can find more information on the communication protocol I designed.
Below, you will find instructions on how to build and deploy the code.
# Build and deploy
Before you start, take a look at this [template](https://github.com/pimoroni/pico-boilerplate?tab=readme-ov-file#before-you-start). This served as starting point to develop the firmware.
It's easier if you make a `pico` directory or similar in which you keep the SDK, Pimoroni Libraries and this project. This makes it easier to include libraries. At the end you will have this directory structure:
```
pico
├── Hexapod-Operator
├── pico-sdk
└── pimoroni-pico
```
Feel free to use another name for the `pico` directory. I will use this out of simplicity.
## Prepare the build environment
Install build requirements:
```bash
sudo apt update
sudo apt install cmake gcc-arm-none-eabi build-essential
```
## Download the pico SDK
Download the pico SDK in the `pico` directory:
```bash
cd pico
git clone https://github.com/raspberrypi/pico-sdk
cd pico-sdk
git submodule update --init
export PICO_SDK_PATH=`pwd`
cd ../
```
The `PICO_SDK_PATH` set above will only last the duration of your session. To make it persistant you can add it to your `.bashrc`.
```bash
echo 'export PICO_SDK_PATH="/path/to/pico-sdk"' >> ~/.bashrc
```
## Download the Pimoroni libraries
Download the Pimoroni libraries in the `pico` directory:
```bash
git clone https://github.com/pimoroni/pimoroni-pico
```
## Clone the project
```bash
git clone https://github.com/ggldnl/Hexapod-Operator
```
If you have not or don't want to set `PICO_SDK_PATH` you can edit `.vscode/settings.json` to pass the path directly to CMake.
## Build
Create a build directory in the root folder of the project and compile.
```bash
mkdir build
cd build
cmake ..
make
```
Once you compile the project you will end up with a `Hexapod.uf2` file inside the `build` directory.
## Delpoy
- Connect the servo2040 board to the computer;
- Hold down the `boot/user` button, press the `reset` button at the same time, and let go of both buttons. The Servo2040 should now appear as drive to the computer;
- Drag and drop the `Hexapod.uf2` image file to the Servo2040 drive, the device will automatically reboot and start the loaded program.