QuadrupedControl a quadruped / mePed V2 spider robot control library

Arduino library for generating all the quadruped movements for controlling a mePed robot V2 with 8 servos. It also controls the optional IR receiver and NeoPixels.

Available as QuadrupedControl example of the Arduino library ServoEasing.

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Features

Smooth movements due to the use of Servo easing library for Arduino.
Demo mode after initial timeout.
Predefined complex movements like twist, wave and dance.
Complete control by a simple IR remote from an Arduino IR set.
Speed, direction and height can be controlled independent by the remote.
If EEPROM existent -which is true for AVR CPU's- the servos inital positions can be calibrated and stored by the IR remote.
Can be extended with Buzzer, NeoPixel strips and a US distance sensor.

YouTube videos

mePed V2 demo mode	Another implementation

For lifting the legs, the lift servos just use the ServoEasing easing type EASE_QUADRATIC_BOUNCING.

A very simple and easy to understand version of controlling a mePed can be found here

Installation

Install ServoEasing library with Tools > Manage Libraries... or Ctrl+Shift+I. Use "ServoEasing" as filter string.
Open the example QuadrupedControl, available at File > Examples > Examples from Custom Libraries / ServoEasing.

Compile options / macros for this software

To customize the software to different requirements, there are some compile options / macros available. Modify them by enabling / disabling them in the file QuadrupedConfiguration.h, or change the values if applicable.

Name	Default value	Description
`QUADRUPED_HAS_IR_CONTROL`	disabled	IR remote control is enabled.
`IR_RECEIVE_PIN`	A0	Pin for IR remote control sensor.
`PIN_BUZZER`	3	Pin for buzzer / piezo.
`QUADRUPED_HAS_NEOPIXEL`	disabled	NeoPattern animations on a 24 pieces Neopixel strip handled logically as 3 8 pieces strips is enabled.
`QUADRUPED_HAS_US_DISTANCE`	disabled	US distance sensor at pin A3 + A4 is enabled. The distance is displayed on the middle/front 8 pieces of the Neopixel strips.
`QUADRUPED_HAS_US_DISTANCE_SERVO`	disabled	A pan servo for the US distance sensor is enabled at pin 13.
`QUADRUPED_ENABLE_RTTTL`	disabled	The quadruped plays a melody at startup.
`QUADRUPED_1_WITH_DVD_REMOTE`, `QUADRUPED_2_WITH_LAFVIN_REMOTE`, `QUADRUPED_3_WITH_KEYES_CLONE_REMOTE`	disabled	3 predefined configurations.

Pictures

Remote front	Remote back

Bottom view of my mePed. You can see the two lipos connected parallel resulting in a 4.2 to 3.6 volt supply.	Using a PCA9685 expander for the servos, gaining pins for other purposes.