Hexapod v2 Software (ESP32)

Dependencies

The following Arduino libraries are required:

• arduino-esp32
• Adafruit PWM Servo Driver Library

Network Configuration

The ESP32 creates a WiFi access point with these default settings in config.h:

• SSID: “hexapod”
• Password: “hexapod_1234”
• UDP Port: 1234

Programming Steps

1. Install Arduino IDE
2. Install arduino-esp32 following the Instruction
3. Install Dependencies:
   • Install all required libraries through Arduino Library Manager
4. Build and Upload the Code:
   • Select “ESP32 Dev Module” board in Arduino IDE
   • Upload the code to ESP32
   • The robot will perform a boot-up motion sequence

OTA Updates

The code supports Over-The-Air (OTA) updates:

1. Power on the robot
2. Connect to the hexapod’s WiFi network
3. Use Arduino IDE’s network port to upload new firmware

File Structure

• hexapod_esp32.ino: Main Arduino sketch
• config.h: Configuration parameters and pin mappings
• motion.h: Motion path lookup tables for different movements