Hexapod source code

As per request, here is the code to my arduino hexapod. Please note that I am using an external servo controller, so this code simply sends the servo positions via a serial connection.

More Info (+ youtube video)

I'll try to comment it more fully (and refactor) when finals are over.

PS - it seems blogger is cutting off the right side of the code... :( You should copy/paste into an editor to see the ends of those arrays

/* Reference:

Horizontal movement:
Right side - INCREASING pulse width moves leg toward BACK
Left side - DECREASING pulse width moves leg toward BACK

Vertical movement:
Right side - DECREASING pulse moves leg DOWN
Left side - INCREASING pulse moves leg DOWN
*/

// -------------------------------------------
// Horizontal Max & Min
// -------------------------------------------

#define HorzMid 1515

// Front Right:
#define frHorzMax 1815
#define frHorzMin 1400

// Middle Right
#define mrHorzMax 1715
#define mrHorzMin 1415

// Back Right
#define brHorzMax 1835
#define brHorzMin 1300

// Front Left
#define flHorzMin 1375
#define flHorzMax 1715

// Middle Left
#define mlHorzMin 1344
#define mlHorzMax 1555

// Back Left
#define blHorzMin 1135
#define blHorzMax 1675

// -------------------------------------------
// Vertical Max & Min
// -------------------------------------------
// Right side
#define rVertMax 2300
#define rVertMid 1776
#define rVertMin 900

// Left Side
#define lVertMax 2300
#define lVertMid 1494
#define lVertMin 900

// -------------------------------------------
// Servo Controller Channels:
// -------------------------------------------
// Horizontal Movement:
#define frHorz 0 // Front Right
#define flHorz 1 // Front Left
#define mrHorz 2 // Middle Right
#define mlHorz 3 // Middle Left
#define brHorz 4 // Back Right
#define blHorz 5 // Back Left

// Vertical Movement:
#define frVert 6 // Front Right
#define flVert 7 // Front Left
#define mrVert 8 // Middle Right
#define mlVert 9 // Middle Left
#define brVert 10 // Back Right
#define blVert 11 // Back Left


// Load Servo data into arrays
int servoNumber[12] = {brHorz, flHorz, mrHorz, blHorz, frHorz, mlHorz, brHorz, flHorz, mrHorz, blHorz, frHorz, mlHorz};
int servoHorzDirection[12] = {-1, 1, -1, 1, -1, 1, -1, 1, -1, 1, -1, 1};
int servoVertDirection[12] = {-1, 1, -1, 1, -1, 1, -1, 1, -1, 1, -1, 1};
int servoVertMid[12] = {rVertMid, lVertMid, rVertMid, lVertMid, rVertMid, lVertMid, rVertMid, lVertMid, rVertMid, lVertMid, rVertMid, lVertMid};


// -------------------------------------------
// Misc Variables
// -------------------------------------------

int pulse = 0; // Amount to pulse the servo
int potPos = 0;

// -------------------------------------------
// Run-once Setup function
// -------------------------------------------
void setup() {
Serial.begin(115200);
resetAllServos();
delay(5000);
}


// -------------------------------------------
// Loop-forever Function
// -------------------------------------------
void loop() {

// walk forward faster and faster
walk(100);
walk(200);
walk(300);
walk(400);

// relax
delay(1000);

// walk backward faster and faster
walk(-100);
walk(-200);
walk(-300);

// relax
delay(1000);

}

// -------------------------------------------
// Reset All Servos
// -------------------------------------------
void resetAllServos() {
moveServo(frVert, rVertMid);
moveServo(mrVert, rVertMid);
moveServo(brVert, rVertMid);

moveServo(flVert, lVertMid);
moveServo(mlVert, lVertMid);
moveServo(blVert, lVertMid);

moveServo(frHorz, HorzMid);
moveServo(mrHorz, HorzMid);
moveServo(brHorz, HorzMid);

moveServo(flHorz, HorzMid);
moveServo(mlHorz, HorzMid);
moveServo(blHorz, HorzMid);

Serial.println("");
delay(1000);
}


// -------------------------------------------
// Move a Servo
// -------------------------------------------
void moveServo(int ServoPin, int PulseWidth) {
Serial.print(" #");
Serial.print(ServoPin); //which servo to move
Serial.print(" P ");
Serial.print(PulseWidth); // the pulse width to send
}

// -------------------------------------------
// Set Amount of Time Servos Take to Move
// -------------------------------------------
void setMoveTime(int moveTime) {
Serial.print(" T "); //temp command (time = 1 second)
Serial.print(moveTime);
}

// -------------------------------------------
// Walk
// -------------------------------------------
void walk(int walkSpeedAndDirection) {
int intermission = 150; // delay between each part (in ms)
int horzDistance = walkSpeedAndDirection; // Distance to have each leg forward (actual distance of one
// step is 2*horzDistance because the leg moves horzDistance forward and backward)
int vertHeight = 200; // Total height of each step

int i;
for (i=5; i!=-1;i--) {
//Vertical Servo1 Up:
moveServo((servoNumber[i] + 6), (servoVertMid[i] + (servoVertDirection[i] * vertHeight)));
//Horzizontal Servo1 to 2/4
moveServo(servoNumber[i], HorzMid);

//Vertical Servo2 Down:
moveServo((servoNumber[i+1] + 6), servoVertMid[i+1]);
//Horizontal Servo2 to 4/4 (front)
moveServo(servoNumber[i+1], HorzMid + (servoHorzDirection[i+1] * horzDistance));

//Horizontal Servo3 to 3/4
moveServo(servoNumber[i+2], HorzMid + (servoHorzDirection[i+2] * (horzDistance/2)));

//Horizontal Servo4 to 2/4 (midpoint)
moveServo(servoNumber[i+3], HorzMid);

//Horizontal Servo5 to 1/4
moveServo(servoNumber[i+4], HorzMid - (servoHorzDirection[i+4] * (horzDistance/2)));

//Vertical Servo6 Down:
moveServo((servoNumber[i+5] + 6), servoVertMid[i+5]);
//Horizontal Servo6 to 0/4 (back)
moveServo(servoNumber[i+5], HorzMid - (servoHorzDirection[i+5] * horzDistance));

//tell the servo controller to execute the commands and wait for the servos to finish
Serial.println();
delay(intermission);
}
}

/*
Horizontal movement:
Right side - INCREASING pulse width moves leg toward BACK
Left side - DECREASING pulse width moves leg toward BACK

Vertical movement:
Right side - DECREASING pulse moves leg DOWN
Left side - INCREASING pulse moves leg DOWN
*/

99 comments:

Noodle said...

How many pins does the servo controller consume on the Arduino, and is there any significant advantage to using one of them rather than using the servo serial library?

Jim Robert said...

It uses digital pin 0, and pin 1

It was pretty cheap and allows you to do lots of simultaneous servo movements really smooth.

Also, it makes it really easy to power the servos separately from the arduino, which is really useful since servos can pull a TON of power (which can cause the arduino to reset if the voltage gets too low sometimes, which is crappy)

finally, the servo controller lets you control up to 32 servos, which is more pins than the arduino even has :)

Noodle said...

Hmmm. Interesting. I think I'll stick to building one without a controller first, implementing ultrasonic on it.

Then order the controller, because even if I don't use it on this hex, I can make another with 3DOF, and it could easily handle it.

I've already tested running servo's on different supplies, and running Arduino of a battery, so I'm very keen. I think I'm buying the servo's for mine tomorrow :D. No doubt you'll see a vid about it soon, and I'll be the fourth who's posted a vid of Arduino Hexapods. So many p.Brains and Micromagic (though they are really cool.).

Jim Robert said...

Sounds great, I'm gonna hold you to your word on that video :)

Noodle said...

Hmm. I've got mine kinda working, with a makeshift protoboard 'circuit' which has been terribly soldered and all the connections are really delicate. Now it's out of battery :(

Anywho, about to order SSC-32, curious, over serial, are you sending something like:

#2P1400

So as to say servo 2 at 1400 pulse? I thought you made a mistake, and then I saw why I was wrong! So ignore this last bit, but that's the sort of thing you're sending?

Noodle93 said...

As you wish: http://au.youtube.com/watch?v=2iPPwl_-Uy4

Hope you have a merry xmas and new year, please comment on the vid, and hope you went well in your 'finals'!

AJ said...

Can you change your code so that is used for a hexapod with 18 servos that is going to be controlled by a PS2 controller, I also would like the hexapod to move right and left.

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