2026-10-25 17:33:11 +01:00
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# Hexapod – Processing simulator
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A 3D simulator for the hexapod robot's leg kinematics, written in [Processing](https://processing.org/) (Java mode, 2.x).
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It draws the body and six legs, solves the inverse kinematics per leg (`FootClass`) and animates body rotation
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and translation (`HexapodClass`), cycling through a few camera views.
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The same `FootClass` / `HexapodClass` / `CustomTimer` design was later ported to the Arduino firmware in
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`../../2016-ssc32-processing-port/Hexapod_NEW/`.
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## Running
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Open `hexapod/hexapod.pde` in the Processing IDE and press Run. The sketch folder must stay named `hexapod`.
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## History
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This folder was rebuilt in 2026 from old archives. Each archive became one commit, dated by its newest file:
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| Tag | Source archive | Date |
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|--------------------|-------------------|------------------|
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| `processing-rar-1` | `Hexapod 1.rar` | 2014-10-06 14:30 |
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| `processing-rar-2` | `hexapod 2.rar` | 2014-10-06 22:39 |
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| `processing-rar-3` | `hexapod 3.rar` | 2014-10-12 16:17 |
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| `processing-rar-4` | `hexapod 4.rar` | 2014-10-13 00:49 |
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The commit after `rar-4` is the last unarchived sketch folder; its real date is unknown (file dates were lost in a
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2016-11-14 copy), so it carries that date.
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