Hexapod

You can click this image for a demo video

Quick start

The Hexapod can be controlled using a tkinter GUI or with a more classic prompt.
Both work the same way and are easy to use.

1. Plug in the battery
2. Turn it on
3. Connect to the Hexapod wifi (no password required) (or plug the mini usb cable)
4. Launch Client/main.py
5. Just use the action buttons (sit, stand, walk...)

About the gui

There are two mains usages for the gui

• Call predefined function (at the bottom). Those are hardcoded movements like sit, stand etc ...

• Test a specific action (most of the others widgets)

Actions panel

• If you use forward, backward, rotate_right or rotate_left you have to stop the movement using stop

• You must be in position stand1 if you want to call dab, forward, backward, rotate_right, rotate_left or wave

Engine panel

Allows you to choose with which engine you want to work

• Left and Right select the side of the engine you want to move

• Front, Middle and Rear select the position of the engine

• Hori, Verti and Knee select which engine you want to move

• All types checkbox allow you to move all engine of a specific type at once (types are knee verti and hori)

• Live is quite cool, it allows you to directly send the command when the Angle slidebar is changed

Combining Live and All types is useful !

Angle panel

Allows you to change the angle of an engine

• The slidebar can be moved to change the angle of an engine
• The little textbox on the left is here if you need a value that is not on the slidebar
• The Angle Equivalent label on the right shows you the exact value that will be send to the engine (mainly for debugging)

Speed panel

Allows you to change the speed of the movements

• The slidebar can be moved to change the speed

• The little textbox on the left is here if you need a value that is not on the slidebar

• the Action speed checkbox on the right if you want to apply the selected speed to the predefined actions. (The default speed for actions is 700)

• send button send the command

History panel

A little history of the command you sent

• After a command is sent, it will be shown in the history
• Play button play a selected command
• Play all button play all command of the history in the order they arrived
• Edit allows you to edit a selected command
• delete allows you to delete a selected command
• clear clears history

Min/Max panel

Change the angle min/max values of an engine

!!! Be carefull with that, only use it if you know what you're doing !!!

• Min value is controlled with the left slidebar
• Max value is controlled with the right slidebar
• Save Button save the values in Client/constants.json

This panel is mainly used for debugging and engine calibration

Pinout

Connect :

• VS2+ from the Hexapod to VIN on the ESP-32.

• VS2- from the Hexapod to GND on the ESP-32.

• TX from the Hexapod to D2 on the ESP-32.

• RX from the Hexapod to D15 on the ESP-32.

• G from the Hexapod to GND on the ESP-32.

Flash and power the ESP-32

• Flash the arduino code from ./Arduino_code to the ESP-32.
• The file to flash is ./Arduino_code/hexapod.ino

Notes

For any assistance, feel free to ask to:

• lorenzo.rosmarino@epitech.eu

• yohann.assouline@epitech.eu

• /!\ Don't forget to charge the batteries

Links

The official webpage : http://www.lynxmotion.com/c-117-phoenix.aspx