https://github.com/ryankurte/libhexapod

An open source library for the control of Hexapod robots
https://github.com/ryankurte/libhexapod

hexapod library open-source

Last synced: 11 months ago
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An open source library for the control of Hexapod robots

• Host: GitHub
• URL: https://github.com/ryankurte/libhexapod
• Owner: ryankurte
• License: mit
• Created: 2016-07-17T09:35:53.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2017-02-02T01:57:14.000Z (over 9 years ago)
• Last Synced: 2025-08-17T04:32:27.412Z (11 months ago)
• Topics: hexapod, library, open-source
• Language: C
• Homepage:
• Size: 79.1 KB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md

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README

          
# Libhexapod

A library for hexapod control.

## Usage

Include [lib/hexapod.cmake](lib/hexapod.cmake) in your CMake project to build the library and add it to an OPTIONAL_LIBS variable. Check out [CMakeLists.txt](CMakeLists.txt) for a working example.

## Status

Forward and inverse kinematics as well as linear (no rotational) gait control working in simulation, not yet physically tested. Body translation is not yet tested.

[![Build Status](https://travis-ci.org/ryankurte/libhexapod.svg?branch=master)](https://travis-ci.org/ryankurte/libhexapod)

[![Release](https://img.shields.io/github/release/ryankurte/libhexapod.svg)](https://github.com/ryankurte/libhexapod)

## Components

### Visualiser

The visualiser uses python cffi bindings to visualise control outputs from the compiled libhexapod.



## Dependencies

- cmake

- make

- gcc (or clang)

Development also requires python3 with numpy and matplotlib.

## Usage

TODO

## Development

1. `git clone github.com:ryankurte/libhexapod.git` to clone the repository 

2. `mkdir build` to create a build directory

3. `cd build` to switch to the build directory 

4. `cmake ..` to initialise cmake 

5. `make` to build the project

6. `./hex-test` to run unit tests

7. `./hex-util` to generate output files

8. `../graph.py` to render output files

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If you have any questions, comments, or suggestions, feel free to open an issue or a pull request.