Hexapod/hexapod-robot
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Give the 2014, 2016 and 2019 robot sketches their own sketch folder

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The Arduino IDE needs the folder name to match the .ino: HexapodRobot/, Hexapod_NEW/ and Hexapod_Teensy/. References in 2026-current/CLAUDE.md updated.
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mangavalk committed 2026-10-25 17:31:44 +01:00
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2016-ssc32-processing-port/Hexapod_NEW/Hexapod_NEW.ino
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// Version 1
#include "Arduino.h"
#include "CustomTimer.h"
#include "HexapodClass.h"
#include "Vector.h"
#include "Global.h"
//#include <avr/wdt.h>
void setup()
{
//wdt_enable(WDTO_1S);
walk1[0] = Vector(12, robotHeigth, 2);
walk1[1] = Vector(12, robotHeigth, 0);
walk1[2] = Vector(12, robotHeigth, -2);
walk1[3] = Vector(12, robotHeigth, -2);
walk1[4] = Vector(12, robotHeigth - 10, -2);
walk1[5] = Vector(12, robotHeigth - 10, 0);
walk1[6] = Vector(12, robotHeigth - 10, 2);
walk1[7] = Vector(12, robotHeigth, 2);
Serial.begin(115200);
Serial1.begin(115200);
Serial.println("");
Serial.println(" ____ ____ ___ ");
Serial.println("/\\ _`\\ __ /\\ _`\\ /\\_ \\ ");
Serial.println("\\ \\ \\L\\_\\/\\_\\ _ __ __\\ \\ \\L\\_\\//\\ \\ __ __ ");
Serial.println(" \\ \\ _\\/\\/\\ \\/\\`'__\\/'__`\\ \\ _\\/ \\ \\ \\ /\\ \\/\\ \\ ");
Serial.println(" \\ \\ \\/ \\ \\ \\ \\ \\//\\ __/\\ \\ \\/ \\_\\ \\_\\ \\ \\_\\ \\ ");
Serial.println(" \\ \\_\\ \\ \\_\\ \\_\\\\ \\____\\\\ \\_\\ /\\____\\\\/`____ \\ ");
Serial.println(" \\/_/ \\/_/\\/_/ \\/____/ \\/_/ \\/____/ `/___/> \\");
Serial.println(" /\\___/");
Serial.println(" \\/__/ ");
Serial.println("");
Serial.println("Version 3.0");
delay(800);
}
void loop()
{
// the program is alive...for now.
//wdt_reset();
// Rotation calculation, please use transformation matrixes instead.
//rotationX = ( counterXRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterXRotation % (rotationRange * 2) : rotationRange + (-1 * (counterXRotation % (rotationRange * 2))) );
//rotationY = ( counterYRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterYRotation % (rotationRange * 2) : rotationRange + (-1 * (counterYRotation % (rotationRange * 2))) );
//rotationZ = ( counterZRotation % (rotationRange * 4) < (rotationRange * 2) ? -rotationRange + counterZRotation % (rotationRange * 2) : rotationRange + (-1 * (counterZRotation % (rotationRange * 2))) );
DrawBody();
}