Quadrupod

A 3D printed quadruped built the ESP32 and PCA9685, code is written using Python.

Setup

Install MicroPython on the ESP32,

Erase Flash Memory

sudo chmod 777 /dev/ttyUSB0
esptool.py --port /dev/ttyUSB0 erase_flash

Install Firmware

esptool.py --chip esp32 --port /dev/ttyUSB0 write_flash -z 0x1000 ./firmware/esp32-20210902-v1.17.bin

Run REPL

picocom /dev/ttyUSB0 -b 115200

Exit with Ctrl + AX

Install Code

Install Ampy More Info

pip install adafruit-ampy

Test Ampy

ampy --port /dev/ttyUSB0  -b 115200 run ./helpers/blink_led.py

Ampy Commands

ampy -p /dev/ttyUSB0 put ./quadrupod/
ampy -p /dev/ttyUSB0 put ./helpers/
ampy -p /dev/ttyUSB0 ls 

REPL commands

Legs

from helpers.legs import *
from uasyncio import run
lf, lb, rf, rb = get_leg("lf"), get_leg("lb"), get_leg("rf"), get_leg("rb")
run(lf.lower.move(90, 1))