Making of NX19A
Agenda
1. Overview
2. Components
3. M5Stamp S3 + Round LCD
4. Control by JoyC
5. Sketch
6. Motion check
1. Overview
I made a hexapod robot with M5Stamp S3 using ESP32 C3 in M5Stack series, round LCD and AI camera UnitV and IMU MPU6050.
2. Components
1)M5Stamp S3
2)Servo TowerPro MG90D x18
3)Battery Lithium Ion 16340(With protection circuit）x2
4)PCA9685 Servo driver PCB(PONDA's PCB）
5)DCDC board LXDC55
6)AI camera UnitV
7)IMU MPU6050
8)ROund LCD Switch Science site
The wiring is as follows.
3. About M5Stamp S3 + Round LCD
About M5Stamp S3, Please refer Switch Science site
About round LCD for M5Stamp S3 Switch Science site
4.Control by JoyC
This time, the control uses the JoyC with M5StickC.
5.Sketch
I wrote a detailed M5Stamp S3 sketch and UnitV Python code on Github, so please refer to that.
Walking motion sketch Github
6.Motion check
The movement of the leg this time is calculated by inverse kinematics. At first, I used spreadsheet software outside the robot for calculations, but finally implemented it in M5Stamp S3 so that it could be calculated in real time.
Update
- 2023.5.15Created a page of a hexapod robot with M5Stamp S3 + Round LCD + UnitVNEW