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

Links

• Spider robot(quad robot, quadruped)-MG90 regishu 2017
• https://www.hackster.io/yasaspeiris/raspberry-pi-powered-quadruped-bbb68b
• https://github.com/yasaspeiris/aragog

Parts

• PCA9685
• parts from regishu's design
• set of small screws
• 12 x MG90s

Assembly

• Legs and hinges are connected with 1.4x5mm screws
• Legs and servos are connected with 1.7x6mm screws

We use the raspberry base from https://github.com/yasaspeiris/aragog/blob/master/3d%20printed%20parts/base.STL

Leg Test

sudo python3 testadafruit.py 0 1 2 3  0

sudo python3 testadafruit.py 0 1 2 3  90

sudo python3 testadafruit.py 0 1 2 3  180

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)

What Links Here

• BITPlan Self Driving RC Car