mithi / hexy

Code for a hexapod robot

🌸 ✊

I'm a frontend web engineer - building performant, high-quality user interfaces. Formerly, a robotics teacher.

Aeronology Luxor Datature

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hexy's Issues

Length of leg (coxa, femur, tibia)

Hello, please can you tell me, where I can set the length of coxa, femur, tibia and so on? I have a different frame for my hexapod and I can't figure that out. Thx for reply.

Inverting for futaba type servos

i need to invert the direction of all servos. Mine go CCW as yours go CW.

Where can i change the direction for the entire kinematics?
in the basic code that i used before the kinematics looked something like this:

knee = value1

and i would change it to:

knee = 180 - value1 // 180 is the max posible value

Is there a file where i can do the same? What file is used for writing the values to i2c?

Pin assignments for the servos WHERE?

I was wondering what servo should be attached to wich pin.

Do you have a diagram like for example: Rear Femur Right -- Servocontroller 1 -- pin 2

Add asymmetric parameter

First of all a big thanks to @mithi for this great code
I do have a different type of hexapod and the servo configuration makes the left and right side asymmetric, so +10 deg on left side makes -10 deg on right side. Not being a programmer I would kindly request that you consider implementing this new parameter (symetry class ?) so we can expand to a larger hexapod compatibility.

Here is a picture of the ''monster'':