Larry Watkins
Published © GPL3+

Hexapod (Hexapi)

Hexapod using Inverse kinematics with a Udoo x86 brain, MQTT Remote control via xBox controller and video streaming (3d printed legs)

IntermediateWork in progress24,300
Hexapod (Hexapi)

Things used in this project

Hardware components

SSC-32U
×1
Solar D772 Servo
×18
Adafruit Ultimate GPS
×1
SparkFun 9 DOF - MPU-9150
×1
SparkFun Voltage Level Translator
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×2
Lynxmotion Aluminum Hexapod CH3-R Combo Kit Body Frame
×1
Ball Bearing with flange
×18
Microsoft XBox 360 Wireless Receiver
×1
Microsoft XBox 360 Controller
×1
Venom LiPo 2S 7.4V 5000mAh 25C battery
×1
SparkFun FTDI Basic Breakout - 3.3V
SparkFun FTDI Basic Breakout - 3.3V
×3
SparkFun Antenna GPS Embedded SMA
×1
Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
×1
NS-HP : RTK Capable GPS
×1
Adafruit FONA Mini cellular breakout
×1
UDOO X86 ULTRA
UDOO X86 ULTRA
×1

Software apps and online services

Visual Studio 2015
Microsoft Visual Studio 2015
Windows 10 IoT Core
Microsoft Windows 10 IoT Core
MQTT
MQTT

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

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Code

Hexapi hexapod C# inverse kinematics code

This is designed to be run as a background task on Windows 10 IOT for the Raspberry PI 2. Takes advantage of the Remote Arduino library / Firmata.

MQTT Broker and client libraries

MQTT Broker and client libraries used to control the robot, stream video, and telemetry

Hexapi Service Host, and the remote UI for PC, can be recompiled for other architectures

Uses the RxMQTT client. Very early stages. Currently running on the Udoo x86. The PI3 is not fast enough for what I want to do with video on top of everything else.

Credits

Larry Watkins

Larry Watkins

1 project • 41 followers
C# Software Developer with a focus on hardware interaction
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