hexapod

Hexapod software

Run it on Raspberry Pi Zero W for Hexapod, and control the robot from your laptop

Build and Setup

$ make
cd servo; GOARM=6 GOOS=linux GOARCH=arm go build -o ../robot .
cd controller; go build -o ../ct .

• Save Pub/Sub credential on project root as "cred.json"
• Run echo -n 0 > seq.txt

Install

Send all files to robot. Change systemd setting for startup.

TODO

Use Controller

# Subscribe heartbeat from robot
./ct heartbeat 

# move commands
./ct rotate
./ct walk
./ct arms 0 0 0 0 0 0 0 0 # <odd arms up-down> <even arms up-down> <arm1 rotate> <arm2> <arm3> <arm4> <arm5> <arm6>