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QuadrupedControl a quadruped / mePed V2 spider robot control library

Arduino library for generating all the quadruped movements for controlling a mePed robot V2 with 8 servos.<br/> It also controls the optional IR receiver and NeoPixels.

Badge License: GPL v3     Badge Version     Badge Commits since latest     Badge Build Status     Badge Hit Counter <br/> <br/> Stand With Ukraine

Available as QuadrupedControl example of the Arduino library ServoEasing.

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Features

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YouTube videos

mePed V2 demo modeAnother implementation
mePed V2 demo modeAnother implementation

For lifting the legs, the lift servos just use the ServoEasing easing type EASE_QUADRATIC_BOUNCING.

A very simple and easy to understand version of controlling a mePed can be found here

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Installation

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Compile options / macros for this software

To customize the software to different requirements, there are some compile options / macros available.<br/> Modify them by enabling / disabling them in the file QuadrupedConfiguration.h, or change the values if applicable.

NameDefault valueDescription
QUADRUPED_HAS_IR_CONTROLdisabledIR remote control is enabled.
IR_RECEIVE_PINA0Pin for IR remote control sensor.
PIN_BUZZER3Pin for buzzer / piezo.
QUADRUPED_HAS_NEOPIXELdisabledNeoPattern animations on a 24 pieces Neopixel strip handled logically as 3 8 pieces strips is enabled.
QUADRUPED_HAS_US_DISTANCEdisabledUS distance sensor at pin A3 + A4 is enabled. The distance is displayed on the middle/front 8 pieces of the Neopixel strips.
QUADRUPED_HAS_US_DISTANCE_SERVOdisabledA pan servo for the US distance sensor is enabled at pin 13.
QUADRUPED_ENABLE_RTTTLdisabledThe quadruped plays a melody at startup.
QUADRUPED_1_WITH_DVD_REMOTE, QUADRUPED_2_WITH_LAFVIN_REMOTE, QUADRUPED_3_WITH_KEYES_CLONE_REMOTEdisabled3 predefined configurations.
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Pictures

Remote frontRemote back
Remote frontRemote back
Bottom view of my mePed. You can see the two lipos connected parallel resulting in a 4.2 to 3.6 volt supply.Using a PCA9685 expander for the servos, gaining pins for other purposes.
Bottom viewPCA9685 expander