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A hexapod spider robot that can be controlled by OpenCR, CM-700, OpenCM, or an Arduino with Robotis Shield. The robot is motorized by eighteen Robotis Dynamixel AX-18A servos, and has one Robotis AX-S1 integrated sensor mounted on a turret that is motorized by two Robotis Dynamixel AX-18A servos The robot frame is a slightly modified TrossenRobotics ABS PhantomX kit.

• /Docs - Project Related documentations.
• /RoboPlus Files - Motion,Task, and Design Files generated using Robotis RoboPlus 1.x & 2.x
• /Research Paper - Related robotics research documents.

#Version History

• Version 1.0 (work in progress).

This project is a firmware for a hexapod robot ("SpiderBot") using Dynamixel AX-18A servos. The code is designed for Arduino-compatible microcontrollers and provides modular control for legs, a sensor turret, and optional AX-S1 sensor modules.

• Hexapod Leg Control: Modular support for 6 legs, each with multiple degrees of freedom.
• Dynamixel Servo Communication: Uses DynamixelWorkbench for robust servo management.
• Sensor Turret: Pan/tilt turret control for sensors or cameras.
• RC Controller Support: Remote control via serial interface.
• Gait Controller: Multiple walking gaits and speed control.
• AX-S1 Sensor Integration: Read temperature, luminosity, and sound level; control onboard LED.

HexapodPlatformIO/
├── include/           # Header files (e.g., AXS1Sensor.h)
├── src/               # Source files (e.g., main.cpp, AXS1Sensor.cpp)
├── lib/               # Optional libraries
├── platformio.ini     # PlatformIO project configuration
└── README.md          # Project documentation

• PlatformIO installed (VS Code recommended)
• Supported Arduino-compatible board (e.g., Teensy, STM32, ESP32)
• Dynamixel servos and compatible power supply
• (Optional) AXS-1 sensor module

1. Clone this repository:

   git clone <your-repo-url>
   cd HexapodPlatformIO

2. Open the project in VS Code with PlatformIO extension.

3. Connect your board via USB.

4. Build and upload the firmware:

   pio run --target upload

• Edit Config.h to set pin assignments, baud rates, and other hardware-specific parameters.

• On startup, the robot initializes all modules and prints status messages to the serial monitor.
• The main loop demonstrates turret movement; you can expand this to add walking, sensor reading, or remote control.

• src/main.cpp - Main firmware entry point; initializes all modules and runs the main loop.
• include/AXS1Sensor.h / src/AXS1Sensor.cpp - Interface for the AX-S1 sensor module.
• DynamixelController.* - Handles low-level servo communication.
• Hexapod.*, Leg.* - Implements hexapod kinematics and leg control.
• Turret.* - Controls the pan/tilt sensor turret.
• RCController.* - Handles remote control input.
• GaitController.* - Manages walking gaits and timing.

This project is provided for educational and research purposes. Please check individual source files for license details.

• Uses DynamixelWorkbench library by ROBOTIS.
• Developed by Muthanna Alwahash (c) 2025