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https://github.com/mithi/hexapod-irl
A "fork" of Bare-Minimum Hexapod Robot Simulator 2 modified to be able to control a real physical hexapod robot.
https://github.com/mithi/hexapod-irl
adafruit arduino hexapod javascript johnny-five nodejs react robot robotics
Last synced: about 1 month ago
JSON representation
A "fork" of Bare-Minimum Hexapod Robot Simulator 2 modified to be able to control a real physical hexapod robot.
- Host: GitHub
- URL: https://github.com/mithi/hexapod-irl
- Owner: mithi
- License: apache-2.0
- Created: 2020-12-31T17:00:17.000Z (almost 4 years ago)
- Default Branch: dev
- Last Pushed: 2021-01-11T15:05:21.000Z (almost 4 years ago)
- Last Synced: 2024-05-12T00:42:13.464Z (8 months ago)
- Topics: adafruit, arduino, hexapod, javascript, johnny-five, nodejs, react, robot, robotics
- Language: JavaScript
- Homepage:
- Size: 5.38 MB
- Stars: 72
- Watchers: 7
- Forks: 6
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Mithi's Hexapod IRL [](https://ko-fi.com/minimithi)
This is a "fork" of the original [Bare-Minimum Hexapod Robot Simulator 2](https://github.com/mithi/hexapod) that is modified to be able to control a real physical hexapod robot, among other things. Note: This uses the [hexapod-kinematics-library](https://github.com/mithi/hexapod-kinematics-library) for computations, replacing previous `src/hexapod`.
## 🚧 Work In Progress 🚧
❗❗🚜 🚧 👷 🏗️ (Underconstruction, use at your own risk! ) ❗❗🚜 🚧 👷 🏗️
## Updates
- [`v0.2.0`](https://github.com/mithi/hexapod-irl/tree/socket-io-version) - Replace PubNub with [SocketIO](http://socket.io/). Based on my experiments, PubNub batches messages and isn't _"inrealtime"_ enough. Using SocketIO, the jankiness is significantly reduced.
- [`v0.1.0`](https://github.com/mithi/hexapod-irl/tree/pubnub-version) - Use [PubNub](https://www.pubnub.com/) to send commands. Janky.
## How to Use (v0.0.2)
1. Never built a hexapod robot before? The [mithi/hexy](https://github.com/mithi/hexy) repository is a great place to start! Includes the BOM!
2. Build your hexapod robot with an [Arduino](http://arduino.cc/)-compatible / [Johnny-five](http://johnny-five.io/) compatible board. I personally used an [Adafruit Metro Mini 328](https://www.adafruit.com/product/2590). Don't forget to flash your board with the recommended standard firmata flavor (see also: [Johnny Five Wiki: Getting Started](https://github.com/rwaldron/johnny-five/wiki/Getting-Started))
3. Update your servo config in [`./src/_SERVO_CONFIG.js`](./src/_SERVO_CONFIG.js). The [Johnny Five documentation, Servo API page](http://johnny-five.io/api/servo/) is your friend!
4. I personally use two pwm pins of my board and one [PCA9685](https://www.adafruit.com/product/815) to drive my eighteen mg996r servos. If you do the same, make sure [you hook it up properly](https://learn.adafruit.com/16-channel-pwm-servo-driver/hooking-it-up)!
5. Inspect and modify the variables in [`./src/_VAR_CONFIG.js`](./src/_VAR_CONFIG.js) as needed.
6. This is how the angle of each servo is transformed [(function)](./src/_TRANSFORM.js) based on my specific physical hexapod robot configuration. Modify this to suit your needs.
7. This is the bare minimum [node script](./src/_ROBOT_SERVER.js) that will talk to your Arduino and the front-end web app / user interface. Modify this to suit your needs.
8. Open two terminal tabs and run the following:
```
$ npm install
# on one terminal tab, this builds and serves the react app
$ npm run prod:client
# on another terminal tab, this runs the johnny-five script
$ npm run run:server
```
Enjoy!