After blowing up a couple of expensive 8A UBECs I think I have found a solution to powering the 18 servos. I am now using 3 8A UBECs, each UBEC powers 2 legs / 6 servos. I have written a basic walking gait to move the hexapod forward, backward, left and right. I’m using inverse kinematics to calculate the servo angles. The code still needs a lot of improvement, I want it to move a lot smoother. For this I’ll need to move the servos in little steps. Writing that code for 18 servos is not so easy, certainly as I refuse to use the delay function. That’s to easy I had a bit of trouble finding out how much I could move the legs and keep the hexapod stable. In the beginning I was moving the legs to far for/backward and that caused the hexapod to fall on it’s ass :p Takes quite a bit of time figuring everything out…
- Replace all the servo horns with metal horns (are on the way from China)
- Replace the original base plates with self designed laser cut acryl plates, the chassis I use now is to small, I’ll make it a little bigger so I can fit my Lipo and UBECs inside the chassis
- Replace current servo PCB with new version (is on the way from China)
- Replace Arduino Mega2560 with a Seeeduino Mega2560 (Seeeduino version is smaller)
- Write some fancier code so the hexapod moves a lot smoother and I can control the speed of the servos (this will be very hard)
- Fit a second micro controller with a nRF24L01 module so I can remote control it.
- Add a shit load of LEDs and let it dance, Gangnam style