Raspberry PI Spiderbot
Inspired by the Arduino Project below we'd like to create a Raspberry PI version as in https://github.com/yasaspeiris/aragog
Video
Links
- Spider robot(quad robot, quadruped)-MG90 regishu 2017
- https://www.hackster.io/yasaspeiris/raspberry-pi-powered-quadruped-bbb68b
Parts
Assembly
- Legs and hinges are connected with 1.4x5mm screws
- Legs and servos are connected with 1.7x6mm screws
Leg Test
sudo python3 testadafruit.py 0 1 2 3 0
testadafruit.py
# Test Adafruit
# WF 2019-07-09
import sys
import time
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
#
# set the given angle for the given servos
#
def setAngle(servos,angle):
print (angle)
for id in servos:
kit.servo[id].angle=angle
time.sleep(0.3)
# Test Servo Software
servos=[]
args=len(sys.argv)
fromangle=0
toangle=180
step=1
if args>1:
for port in range(1,args-1,1):
servos.append(int(sys.argv[port]))
anglestr=sys.argv[args-1]
if "-" in anglestr:
parts=anglestr.split("-")
fromangle=int(parts[0])
toangle=int(parts[1])
else:
fromangle=int(anglestr)
toangle=fromangle
else:
servos.append(0)
servos.append(1)
servos.append(2)
if fromangle!=toangle:
try:
while True:
for setangle in range(fromangle,toangle+step,step):
setAngle(servos,setangle)
except KeyboardInterrupt:
print("Keyboard interrupt")
else:
setAngle(servos,fromangle)