Hexapod v2 Software (RPi Pico)

Dependencies

The following Arduino libraries are required:

• arduino-pico

Network Configuration

The Pico 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-pico
3. Build and Upload the Code:
   • Select “Raspberry Pi Pico W” or “Raspberry Pi Pico 2W” board in Arduino IDE
   • Upload the code to Pico
   • 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

On Arduino IDE under Tools, make sure Flash Size ... FS: 1MB

File Structure

• hexapod_esp32.ino: Main Arduino sketch
• config.h: Configuration parameters and pin mappings
• motion.h: Motion path lookup tables for different movements
• PicoPWM.h, PicoPWM.cpp: Pico’s PWM class