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spiderbot

Spider Bot based on RegisHsu's 3D-printable quadruped.

The current version runs on a Adafruit Feather nrf-series and (planned; not implemented yet) supports BLE control. The servo control is done with an Adafruit PCA9685, which is a 16-channel PWM device controllable via an I2C interface.

There are two implementations of the current version:

  • arduino/ contains an Arduino/C++ implementation. See the readme in that folder for details.
  • tinygo/ contains a Tiny-Go implementation. It can be flashed with tinygo flash -target=feather-nrf52840 cmd/main.go from within that directory.

There are two older implementations in Older/, which ran on a Linux system (an RPi 3B+, in my case) and did servo control with a SSC-32U over a Bluetooth UART. The Python version is the more mature of the two, but neither version is really complete. In particular, I didn't understand coordinate reference frames very well when I designed them.

Disclaimer

This is not an officially supported Google product.