# Hexapod – Processing simulator

A 3D simulator for the hexapod robot's leg kinematics, written in [Processing](https://processing.org/) (Java mode, 2.x).
It draws the body and six legs, solves the inverse kinematics per leg (`FootClass`) and animates body rotation
and translation (`HexapodClass`), cycling through a few camera views.

The same `FootClass` / `HexapodClass` / `CustomTimer` design was later ported to the Arduino firmware in the
[Hexapod/hexapod](https://mangavalk.com/Hexapod/hexapod) repository (`Hexapod_NEW`).

## Running

Open `hexapod/hexapod.pde` in the Processing IDE and press Run. The sketch folder must stay named `hexapod`.

## History

This repository was rebuilt in 2026 from old archives. Each archive became one commit, dated by its newest file:

| Tag     | Source archive    | Date             |
|---------|-------------------|------------------|
| `rar-1` | `Hexapod 1.rar`   | 2014-10-06 14:30 |
| `rar-2` | `hexapod 2.rar`   | 2014-10-06 22:39 |
| `rar-3` | `hexapod 3.rar`   | 2014-10-12 16:17 |
| `rar-4` | `hexapod 4.rar`   | 2014-10-13 00:49 |

The commit after `rar-4` is the last unarchived sketch folder; its real date is unknown (file dates were lost in a
2016-11-14 copy), so it carries that date.