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The µ24-HexEngine is a p.Brain-µ24 with a special bootloader for uploading the µ24-HexEngine locomotion firmware.
Note: µ24-HexEngine firmware cannot be purchased without a p.Brian-µ24 hardware module.
Description
The HexEngine is a software module designed for the p.Brain-µ24 hardware module. The HexEngine is a user configurable locomotion engine for hexapod robots. HexEngine is configured via a serial port (RS-232 or TTL level) using standard terminal software such as HyperTerminal or TerraTerm (As HyperTerminal is no longer included with Vista, I recommend using TeraTerm Pro available here: TeraTerm Pro V2.3). Once the HexEngine is configured for the target hexapod platform, the hexapod locomotion can be controlled using simple direction commands over either the RS-232 or TTL serial port. The idea of the HexEngine is to allow you to get your hexapod up and running with minimum fuss, allowing you to concentrate on obstacle avoidance or other high level control applications.
Supplied with an p.Brain-SMB fixing hole adaptor kit to suit the MSR-H01 hexapod.
Key Features
- Configuration via terminal port or control port via optional blue tooth link
- Locomotion control via terminal port or control port
- Configurable body geometry
- Configurable leg geometry
- Multiple Servo output re-map configurations
- Gait configurations
- X,Y,Z Body rotation and translation
- Walk in any direction
- Servo rotation calibration
- Servo reverse for each leg joint
- Leg calibration offsets
- Four selectable gaits patterns (can be changed during locomotion )
- Two selectable leg move styles, giving a total of eight individual gaits.
- Eight supported baud rates
- Three PWM servo ranges, standard, extended and full (500 to 2500uS)
- Dedicated PWM hardware for precision 1uS PWM resolution
- Body Rotation Offset
- Head control including Pan, Tilt, Twist and Grip
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