mangavalk
df54f0866d
PDF version of the IK derivation. It was in the Hexapod-Archief repo from its first commit (2014) until the 2016 cleanup removed it, so it was only left in that repo's history.
2011–2012: FireFly (Arduino Mega + SSC-32)
In June 2011 the robot was rebuilt around an Arduino Mega 2560 and a Lynxmotion SSC-32 servo controller,
with a new body and bracket (../2009-fpga/original-frame/). The Mega does the inverse kinematics and sends
#n Pxxxx Txxx commands to the SSC-32 over Serial1 at 38400 baud. The serial banner calls it "FireFly".
firmware/
Each folder is an Arduino sketch (or library); successive versions are successive commits, so
git log -p -- <folder> shows what changed.
| Folder | Dates | What |
|---|---|---|
2011-nunchuk/hexapod_oud/ |
2011-10, 2011-12 | Wii Nunchuk input, fixed walking sequences, IK, SSC-32 output. Second commit = hexapod V2 29-12-11.rar |
2012-glcd-remote/hexapod_remote_glcd/ |
2012-03 | handheld remote: graphic LCD, IR receiver and Wii Nunchuk, using the hexapod library |
2012-ir-radar-gps/hexapodV3/ |
2012-04, 2012-05 | v3 restructure (Data, Converter, IK, Servos classes), RC6 IR remote, ultrasonic sensor on a swivelling head servo, watchdog. Oud/ is the 2011 code it started from |
2012-library/hexapod/ |
2012-07, ≤2014-02 | the robot code as an Arduino library "hexapod" v3.1: IK, SSC-32, IR, ultrasonic, GPS (TinyGPS on Serial2), 7-segment display. Second commit = the variant kept in the 2014 GitLab archive |
2012-behaviours-wip/FireFly/ |
2012-07 | start of a behaviour-based rewrite on top of the library; unfinished, does not compile |
Other folders
hardware/– the Arduino Mega 2560 (SparkFun DEV-09949) and SSC-32 photos of June 2011,Layout Hexapod.jpg.docs/math/– the IK and body-rotation derivations ([1]–[5],Hexapod draaien Y as.png, IK.pdf asMovement Space Leg.pdf). Older versions (wisFORlive*.docx) are in the history.docs/planning/– workflow and to-do documents (2012).docs/research/– papers on hexapod workspace and Q-learning, GPS module and TinyGPS manuals.docs/concepts/– inspiration images and early sketches (2008–2012).tools/– two small Windows programs from November 2011 (hexapod 1.0.exe,hexapod Source 0.2.exe); what they do is not known.media/– photos and videos of the FireFly version, sorted by the owner, incl.Hexapod 29-11-11.wmv.