├── README.md ├── fluffbug-v8.2 ├── circuitpython │ ├── deps.txt │ ├── boot.py │ ├── settings.py │ ├── static │ │ └── index.html │ ├── main.py │ ├── web.py │ ├── robot.py │ └── walk.py ├── docs │ ├── step-01.png │ ├── step-02.png │ ├── step-03.png │ ├── step-04.png │ ├── step-05.png │ ├── blueprint.png │ ├── exploded.png │ ├── step-01t.png │ ├── step-02t.png │ ├── step-03t.png │ ├── step-04t.png │ ├── step-05t.png │ └── scad │ │ ├── step-02.scad │ │ ├── step-01.scad │ │ ├── step-03.scad │ │ ├── tibia.svg │ │ ├── step-05.scad │ │ ├── femur.svg │ │ ├── s2mini.svg │ │ ├── body.svg │ │ ├── coxa.svg │ │ └── fluffbug.scad ├── Gerber_PCB_fluffbug-v8.2.zip ├── BOM_fluffbug-v8.2_2023-01-29.csv ├── Schematic_fluffbug-v8.2_2023-01-29.pdf ├── 1-Schematic_fluffbug-v8.2.json └── fluffbug-v8.2-legs.svg ├── fluffbug-v1.0 ├── leg.fzz ├── fluffbug_v1.0.fzz ├── featherbug.svg └── fluffbug_leg.svg ├── fluffbug-v2.0 └── fluffbug_v2.0.fzz ├── fluffbug-v3.0 ├── fluffbug_v3.0.fzz └── fluffbug_legs_v3.svg ├── fluffbug-v4.0 └── fluffbug_v4.0.fzz ├── LICENSE ├── .gitignore └── ik └── main.py /README.md: -------------------------------------------------------------------------------- 1 | See https://hackaday.io/project/180025 2 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/deps.txt: -------------------------------------------------------------------------------- 1 | adafruit_httpserver 2 | asyncio 3 | adafruit_ticks 4 | -------------------------------------------------------------------------------- /fluffbug-v1.0/leg.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/deshipu/fluffbug/HEAD/fluffbug-v1.0/leg.fzz -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/step-01.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/deshipu/fluffbug/HEAD/fluffbug-v8.2/Gerber_PCB_fluffbug-v8.2.zip -------------------------------------------------------------------------------- /fluffbug-v8.2/BOM_fluffbug-v8.2_2023-01-29.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/deshipu/fluffbug/HEAD/fluffbug-v8.2/BOM_fluffbug-v8.2_2023-01-29.csv -------------------------------------------------------------------------------- /fluffbug-v8.2/Schematic_fluffbug-v8.2_2023-01-29.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/deshipu/fluffbug/HEAD/fluffbug-v8.2/Schematic_fluffbug-v8.2_2023-01-29.pdf -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | (c) Copyright 2021 by Radomir Dopieralski. 2 | 3 | This work is licensed under a Creative Commons 4 | Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) License 5 | (http://creativecommons.org/licenses/by-sa/4.0/). 6 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/settings.py: -------------------------------------------------------------------------------- 1 | HIND_RIGHT_HIP = -200 2 | HIND_RIGHT_KNEE = -200 3 | HIND_LEFT_HIP = 350 4 | HIND_LEFT_KNEE = -100 5 | FRONT_RIGHT_HIP = 0 6 | FRONT_RIGHT_KNEE = 450 7 | FRONT_LEFT_HIP = -340 8 | FRONT_LEFT_KNEE = 100 9 | NET_NAME = "fluffbug-shirley" 10 | NET_PASS = "MooMooMooM00" 11 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/step-02.scad: -------------------------------------------------------------------------------- 1 | use ; 2 | 3 | $explode = 5; 4 | 5 | module leg() { 6 | rotate([180, 0, 0]) { 7 | translate([0, 0, -$explode]) SG90(); 8 | translate([0, 0, -7.9]) Tibia(); 9 | translate([0, 0, -$explode * 2]) { 10 | translate([0, 8.3, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 11 | translate([0, -19.1, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 12 | } 13 | }} 14 | 15 | 16 | leg(); 17 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/static/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | Fluffbug 4 | 11 |
12 |
13 | 14 |
15 | 16 |
17 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/step-01.scad: -------------------------------------------------------------------------------- 1 | use ; 2 | 3 | $explode = 5; 4 | 5 | module leg() { 6 | translate([0, 0, -$explode]) { 7 | translate([0, 0, $explode]) SG90_single_horn(0); 8 | translate([-0.5, -0.25, 1.5]) Femur(); 9 | translate([10, 0, 1 + $explode * 2]) leg_screw(); 10 | translate([6, 0, 1 + $explode * 2]) leg_screw(); 11 | translate([35, 0, 2 - $explode * 2]) rotate([0, 180, 0]) leg_screw(); 12 | translate([31, 0, 2 - $explode * 2]) rotate([0, 180, 0]) leg_screw(); 13 | } 14 | translate([41, 0, 3]) rotate([180, 0, 0]) { 15 | translate([0, 0, $explode * 2]) SG90_single_horn(180); 16 | } 17 | } 18 | 19 | 20 | leg(); 21 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/main.py: -------------------------------------------------------------------------------- 1 | import robot 2 | import asyncio 3 | import time 4 | import walk 5 | import web 6 | import board 7 | import digitalio 8 | 9 | 10 | def calibrate(): 11 | led = digitalio.DigitalInOut(board.LED) 12 | led.switch_to_output(value=0) 13 | for leg in robot.LEGS: 14 | leg.move() 15 | led.value = not led.value 16 | time.sleep(0.25) 17 | led.value = True 18 | while True: 19 | time.sleep(1) 20 | 21 | 22 | async def main(): 23 | gait = walk.Walk() 24 | walk_task = asyncio.create_task(gait.walk()) 25 | web_task = asyncio.create_task(web.serve(gait)) 26 | await asyncio.gather(walk_task) 27 | 28 | 29 | #calibrate() 30 | 31 | asyncio.run(main()) 32 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/web.py: -------------------------------------------------------------------------------- 1 | import wifi 2 | import socketpool 3 | import time 4 | import asyncio 5 | 6 | from adafruit_httpserver import server, response 7 | import settings 8 | 9 | 10 | TICK = 0.25 11 | 12 | 13 | http = server.HTTPServer(socketpool.SocketPool(wifi.radio)) 14 | gait = None 15 | 16 | 17 | @http.route('/') 18 | def index(request): 19 | with response.HTTPResponse(request) as r: 20 | r.send_file("static/index.html") 21 | 22 | @http.route('/s') 23 | def s(request): 24 | gait.command = 's' 25 | 26 | @http.route('/f') 27 | def f(request): 28 | gait.command = 'f' 29 | 30 | @http.route('/l') 31 | def l(request): 32 | gait.command = 'l' 33 | 34 | @http.route('/r') 35 | def r(request): 36 | gait.command = 'r' 37 | 38 | async def serve(walk): 39 | global gait 40 | gait = walk 41 | name = settings.NET_NAME 42 | password = settings.NET_PASS 43 | wifi.radio.tx_power = 5 44 | wifi.radio.start_ap(name, password) 45 | address = str(wifi.radio.ipv4_address_ap) 46 | http.start(address, port=80, root_path='/static/') 47 | while True: 48 | http.poll() 49 | await asyncio.sleep(TICK) 50 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/step-03.scad: -------------------------------------------------------------------------------- 1 | use ; 2 | 3 | $explode = 5; 4 | 5 | module leg() { 6 | translate([-41, 0, 0]) { 7 | translate([41, 0, 3]) rotate([180, 0, 0]) { 8 | SG90(); 9 | translate([0, 0, $explode]) { 10 | translate([0, 8.3, -12.6]) SG90_mount_screw(); 11 | translate([0, -19.1, -12.6]) SG90_mount_screw(); 12 | } 13 | } 14 | } 15 | } 16 | 17 | module body() { 18 | translate([0, -25.4, -10.5]) rotate([90, 0, 90]) color("purple") { 19 | linear_extrude(height=1.6, center=true, convexity=10) 20 | import("body.svg"); 21 | } 22 | translate([-0.8, 0, 43]) rotate([90, 0, -90]) BatteryHolder(); 23 | translate([0.8, -10.16, 43.5]) color("dimgray") cube([3, 20.32, 5.08]); 24 | translate([0.8, -10.16, 25.72]) color("dimgray") cube([3, 20.32, 5.08]); 25 | translate([-2.8, -10.16-15.24, 25.72]) color("dimgray") cube([2, 15.24, 5.08]); 26 | translate([-2.8, -10.16+15.24+5.08, 25.72]) color("dimgray") cube([2, 15.24, 5.08]); 27 | rotate([90, 0, 0]) { 28 | translate([0, 0, -22.6-5.8-4]) { 29 | translate([-6.9, 0, -$explode]) leg(); 30 | translate([6.9, 0, -$explode]) mirror([1, 0, 0]) leg(); 31 | } 32 | translate([0, 0, 22.6+5.8+4]) mirror([0, 0, 1]) { 33 | translate([-6.9, 0, -$explode]) leg(); 34 | translate([6.9, 0, -$explode]) mirror([1, 0, 0]) leg(); 35 | } 36 | translate([-6.72, -8.7, -16]) rotate([180, 0, 0]) Coxa(); 37 | translate([-6.72, -8.7, 16]) rotate([180, 0, 0]) Coxa(); 38 | translate([-6.72, 19.7, -16]) Coxa(); 39 | translate([-6.72, 19.7, 16]) Coxa(); 40 | } 41 | } 42 | 43 | body(); 44 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/tibia.svg: -------------------------------------------------------------------------------- 1 | 2 | 15 | 17 | 18 | 20 | image/svg+xml 21 | 23 | 24 | 25 | 26 | 30 | 31 | -------------------------------------------------------------------------------- /fluffbug-v1.0/featherbug.svg: -------------------------------------------------------------------------------- 1 | 2 | 15 | 17 | 18 | 20 | 21 | image/svg+xml 22 | 24 | 25 | 26 | 27 | 29 | 33 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/step-05.scad: -------------------------------------------------------------------------------- 1 | use ; 2 | 3 | $explode = 5; 4 | 5 | module servo(angle) { 6 | translate([0, 0, $explode * 2]) SG90_horn_screw(); 7 | translate([0, 0, $explode * 1]) SG90_single_horn(angle); 8 | SG90(); 9 | } 10 | 11 | module leg() { 12 | translate([-41, 0, 0]) { 13 | translate([0, 0, -0]) { 14 | translate([0, 0, -$explode * 2]) servo(0); 15 | translate([-0.5, -0.25, 1.5 - $explode]) Femur(); 16 | translate([10, 0, 1 - $explode]) leg_screw(); 17 | translate([6, 0, 1 - $explode]) leg_screw(); 18 | translate([35, 0, 2 - $explode]) rotate([0, 180, 0]) leg_screw(); 19 | translate([31, 0, 2 - $explode]) rotate([0, 180, 0]) leg_screw(); 20 | translate([0, 0, -7.9 -$explode * 2]) Tibia(); 21 | translate([0, 0, -$explode * 2]) { 22 | translate([0, 8.3, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 23 | translate([0, -19.1, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 24 | } 25 | } 26 | translate([41, 0, 3]) rotate([180, 0, 0]) { 27 | servo(180); 28 | translate([0, 0, 0]) { 29 | translate([0, 8.3, -12.6]) SG90_mount_screw(); 30 | translate([0, -19.1, -12.6]) SG90_mount_screw(); 31 | } 32 | } 33 | } 34 | } 35 | 36 | module body() { 37 | rotate([90, 0, 0]) { 38 | translate([0, 0, -22.6-5.8-4]) { 39 | translate([-6.9, 0, 0]) leg(); 40 | translate([6.9, 0, 0]) mirror([1, 0, 0]) leg(); 41 | } 42 | translate([0, 0, 22.6+5.8+4]) mirror([0, 0, 1]) { 43 | translate([-6.9, 0, 0]) leg(); 44 | translate([6.9, 0, 0]) mirror([1, 0, 0]) leg(); 45 | } 46 | translate([-6.72, -8.7, -16]) rotate([180, 0, 0]) Coxa(); 47 | translate([-6.72, -8.7, 16]) rotate([180, 0, 0]) Coxa(); 48 | translate([-6.72, 19.7, -16]) Coxa(); 49 | translate([-6.72, 19.7, 16]) Coxa(); 50 | } 51 | Body(); 52 | } 53 | 54 | body(); 55 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /ik/main.py: -------------------------------------------------------------------------------- 1 | import board 2 | import pwmio 3 | import time 4 | import math 5 | 6 | 7 | PI2 = 1.57079 8 | FEMUR = const(40) 9 | TIBIA = const(50) 10 | FEMUR2 = FEMUR * FEMUR 11 | TIBIA2 = TIBIA * TIBIA 12 | LENGTH2 = (TIBIA + FEMUR) * (TIBIA + FEMUR) 13 | 14 | 15 | class Leg: 16 | def __init__(self, hip_pin, hip_trim, knee_pin, knee_trim, reverse, hind): 17 | self.hip_pwm = pwmio.PWMOut(hip_pin, frequency=50) 18 | self.knee_pwm = pwmio.PWMOut(knee_pin, frequency=50) 19 | self.sign = -1 if reverse else 1 20 | self.hip_trim = hip_trim 21 | self.knee_trim = knee_trim 22 | self.hind = hind 23 | self.x = 0 24 | self.y = 0 25 | 26 | def off(self): 27 | self.hip_pin.duty_cycle = 0 28 | self.knee_pin.duty_cycle = 0 29 | 30 | def move(self, x=None, y=None, dx=0, dy=0): 31 | if x is None: 32 | x = self.x 33 | if y is None: 34 | y = self.y 35 | x += dx 36 | y += dy 37 | self.x = x 38 | self.y = y 39 | 40 | if self.hind: 41 | x = FEMUR + x 42 | else: 43 | x = FEMUR - x 44 | y = TIBIA - y 45 | 46 | leg_length2 = x * x + y * y 47 | leg_length = math.sqrt(leg_length2) 48 | 49 | if leg_length2 > LENGTH2: 50 | raise ValueError("Out of reach") 51 | 52 | hip_leg_angle = math.acos( 53 | (FEMUR2 + leg_length2 - TIBIA2) / 54 | (2 * FEMUR * leg_length) 55 | ) 56 | knee_angle = PI2 - math.acos( 57 | (FEMUR2 + TIBIA2 - leg_length2) / 58 | (2 * FEMUR * TIBIA) 59 | ) 60 | hip_base_angle = math.atan2(y, x) 61 | self.angles(hip_base_angle - hip_leg_angle, knee_angle) 62 | 63 | def angles(self, hip_angle, knee_angle): 64 | if not -PI2 < hip_angle < PI2 or not -PI2 < knee_angle < PI2: 65 | raise ValueError("Bad angle") 66 | self.hip_pwm.duty_cycle = (self.hip_trim + 67 | int(1980 * hip_angle) * self.sign) 68 | self.knee_pwm.duty_cycle = (self.knee_trim + 69 | int(1980 * knee_angle) * self.sign) 70 | 71 | 72 | LEGS = ( 73 | Leg(board.A4, 4915 + 300, board.A3, 4915 + 100, False, True), # hind right 74 | Leg(board.TX, 4915 + 300, board.D5, 4915 + 100, True, True), # hind left 75 | Leg(board.A1, 4915 + 100, board.D6, 4915 + 200, True, False), # front right 76 | Leg(board.A6, 4915 + 300, board.RX, 4915 + 200, False, False), # front left 77 | ) 78 | 79 | 80 | for leg in LEGS: 81 | leg.move() 82 | time.sleep(0.25) 83 | while True: 84 | time.sleep(1) 85 | 86 | for h in range(0, 20): 87 | for leg in LEGS: 88 | leg.move(h, 0) 89 | time.sleep(0.25) 90 | for h in range(20, 0, -1): 91 | for leg in LEGS: 92 | leg.move(h, 0) 93 | time.sleep(0.25) 94 | 95 | while True: 96 | time.sleep(1) 97 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/robot.py: -------------------------------------------------------------------------------- 1 | import board 2 | import pwmio 3 | import math 4 | import settings 5 | 6 | 7 | PI2 = 1.57079 8 | FEMUR = const(40) 9 | TIBIA = const(50) 10 | FEMUR2 = FEMUR * FEMUR 11 | TIBIA2 = TIBIA * TIBIA 12 | LENGTH2 = (TIBIA + FEMUR) * (TIBIA + FEMUR) 13 | 14 | 15 | class Servo: 16 | def __init__(self, pin, center=6200): 17 | self.pwm = pwmio.PWMOut(pin, frequency=60) 18 | if center >= 0: 19 | self.center = center 20 | self.reverse = False 21 | else: 22 | self.center = -center 23 | self.reverse = True 24 | 25 | def move(self, radians): 26 | if self.reverse: 27 | radians = -radians 28 | # Compensate for the asymmetry in the servo motion. 29 | if radians > 0: 30 | us_per_radian = 2300 31 | else: 32 | us_per_radian = 2600 33 | self.pwm.duty_cycle = self.center + int(radians * us_per_radian) 34 | 35 | def off(self): 36 | self.pwm.duty_cycle = 0 37 | 38 | 39 | class Leg: 40 | def __init__(self, hip, knee, hind, left): 41 | self.hip = hip 42 | self.knee = knee 43 | self.hind = hind 44 | self.left = left 45 | self.x = 0 46 | self.y = 0 47 | 48 | def off(self): 49 | self.hip.off() 50 | self.knee.off() 51 | 52 | def ik(self, x, y): 53 | if self.hind: 54 | x = FEMUR + x 55 | else: 56 | x = FEMUR - x 57 | y = TIBIA - y 58 | 59 | leg_length2 = x * x + y * y 60 | leg_length = math.sqrt(leg_length2) 61 | 62 | if leg_length2 > LENGTH2: 63 | raise ValueError("Out of reach") 64 | 65 | hip_leg_angle = math.acos( 66 | (FEMUR2 + leg_length2 - TIBIA2) / 67 | (2 * FEMUR * leg_length) 68 | ) 69 | knee_angle = PI2 - math.acos( 70 | (FEMUR2 + TIBIA2 - leg_length2) / 71 | (2 * FEMUR * TIBIA) 72 | ) 73 | hip_base_angle = math.atan2(y, x) 74 | if math.isnan(hip_leg_angle) or math.isnan(knee_angle): 75 | raise ValueError("Bad angle") 76 | return hip_base_angle - hip_leg_angle, knee_angle 77 | 78 | def move(self, x=None, y=None, dx=0, dy=0): 79 | if x is None: 80 | x = self.x 81 | if y is None: 82 | y = self.y 83 | x += dx 84 | y += dy 85 | hip, knee = self.ik(x, y) 86 | self.angles(hip, knee) 87 | self.x = x 88 | self.y = y 89 | 90 | def angles(self, hip_angle, knee_angle): 91 | self.hip.move(hip_angle) 92 | self.knee.move(knee_angle) 93 | 94 | #C = 4915 # for 50Hz 95 | C = 6200 # for 60Hz 96 | LEGS = ( 97 | Leg(Servo(board.IO1, C + settings.HIND_RIGHT_HIP), 98 | Servo(board.IO4, C + settings.HIND_RIGHT_KNEE), 99 | True, False), 100 | Leg(Servo(board.IO14, -C + settings.HIND_LEFT_HIP), 101 | Servo(board.IO10, -C + settings.HIND_LEFT_KNEE), 102 | True, True), 103 | Leg(Servo(board.IO2, -C + settings.FRONT_RIGHT_HIP), 104 | Servo(board.IO6, -C + settings.FRONT_RIGHT_KNEE), 105 | False, False), 106 | Leg(Servo(board.IO13, C + settings.FRONT_LEFT_HIP), 107 | Servo(board.IO8, C + settings.FRONT_LEFT_KNEE), 108 | False, True), 109 | ) 110 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/femur.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 20 | 38 | 40 | 41 | 43 | image/svg+xml 44 | 46 | 47 | 48 | 49 | 53 | 54 | -------------------------------------------------------------------------------- /fluffbug-v8.2/circuitpython/walk.py: -------------------------------------------------------------------------------- 1 | import robot 2 | import asyncio 3 | 4 | 5 | HEIGHT = 20 6 | WALK_ORDER = (2, 3, 1, 0) 7 | #WALK_ORDER = (2, 0, 3, 1) 8 | LEFT_ORDER = (1, 3, 0, 2) 9 | RIGHT_ORDER = (2, 0, 3, 1) 10 | TICK = 0.04 11 | LEG_TILT = (1, -1, 1, -1) 12 | 13 | 14 | class Walk: 15 | def __init__(self): 16 | self.on_ground = set(robot.LEGS) 17 | self.speed_left = 2.0 18 | self.speed_right = 2.0 19 | self.leg_order = WALK_ORDER 20 | self.command = None 21 | 22 | def do_command(self): 23 | if self.command is None: 24 | return 25 | elif self.command == 'f': 26 | self.speed_left = 2.0 27 | self.speed_right = 2.0 28 | self.leg_order = WALK_ORDER 29 | elif self.command == 's': 30 | self.speed_left = 0 31 | self.speed_right = 0 32 | elif self.command == 'r': 33 | self.speed_left = -1.0 34 | self.speed_right = 1.0 35 | self.leg_order = RIGHT_ORDER 36 | elif self.command == 'l': 37 | self.speed_left = 1.0 38 | self.speed_right = -1.0 39 | self.leg_order = LEFT_ORDER 40 | self.command = None 41 | 42 | async def init(self): 43 | for leg in robot.LEGS: 44 | leg.move(y=HEIGHT) 45 | await asyncio.sleep(TICK) 46 | 47 | async def slide(self): 48 | while True: 49 | stop = False 50 | for leg in self.on_ground: 51 | if leg.x > 40: 52 | stop = True 53 | break 54 | if not stop: 55 | for leg in self.on_ground: 56 | try: 57 | if leg.left: 58 | leg.move(dx=self.speed_left) 59 | else: 60 | leg.move(dx=self.speed_right) 61 | except ValueError: 62 | break 63 | await asyncio.sleep(TICK) 64 | 65 | async def do_tilt(self, tilt): 66 | tilt = tilt * 3 67 | for step in range(0, 3): 68 | try: 69 | robot.LEGS[0].move(y=HEIGHT + tilt * step) 70 | robot.LEGS[1].move(y=HEIGHT - tilt * step) 71 | robot.LEGS[2].move(y=HEIGHT + tilt * step) 72 | robot.LEGS[3].move(y=HEIGHT - tilt * step) 73 | except ValueError: 74 | break 75 | await asyncio.sleep(TICK) 76 | 77 | async def do_step(self, leg): 78 | speed = self.speed_left if leg.left else self.speed_right 79 | leg.move(dy=10) 80 | self.on_ground.discard(leg) 81 | await asyncio.sleep(TICK) 82 | leg.move(dy=10) 83 | await asyncio.sleep(TICK) 84 | leg.move(x=speed * 6) 85 | await asyncio.sleep(TICK) 86 | leg.move(x=-speed * 2) 87 | await asyncio.sleep(TICK) 88 | leg.move(x=-speed * 14) 89 | await asyncio.sleep(TICK) 90 | leg.move(x=-speed * 16) 91 | await asyncio.sleep(TICK) 92 | await asyncio.sleep(TICK) 93 | leg.move(dy=-20) 94 | await asyncio.sleep(TICK) 95 | self.on_ground.add(leg) 96 | 97 | async def creep(self): 98 | leg_number = 0 99 | tilt = -LEG_TILT[leg_number] 100 | while True: 101 | prev_tilt = tilt 102 | self.do_command() 103 | if self.speed_left == 0 and self.speed_right == 0: 104 | tilt = 0 105 | if tilt != prev_tilt: 106 | await self.do_tilt(tilt) 107 | await asyncio.sleep(TICK) 108 | continue 109 | leg_number = self.leg_order[leg_number] 110 | leg = robot.LEGS[leg_number] 111 | tilt = -LEG_TILT[leg_number] 112 | if tilt != prev_tilt: 113 | await self.do_tilt(tilt) 114 | await self.do_step(leg) 115 | 116 | async def walk(self): 117 | await self.init() 118 | creep_task = asyncio.create_task(self.creep()) 119 | slide_task = asyncio.create_task(self.slide()) 120 | await asyncio.gather(creep_task, slide_task) 121 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/s2mini.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 21 | 23 | 24 | 26 | image/svg+xml 27 | 29 | 30 | 31 | 32 | 34 | 66 | 71 | 76 | 81 | 86 | 91 | 96 | 101 | 106 | 111 | 116 | 121 | 126 | 131 | 136 | 141 | 146 | 150 | 154 | 158 | 162 | 163 | 169 | 170 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/body.svg: -------------------------------------------------------------------------------- 1 | 2 | 19 | 49 | 54 | 59 | 64 | 68 | 72 | 76 | 80 | 84 | 88 | 92 | 96 | 100 | 104 | 108 | 112 | 116 | 120 | 124 | 128 | 132 | 136 | 140 | 144 | 148 | 152 | 153 | 155 | 156 | 158 | image/svg+xml 159 | 161 | 162 | 163 | 164 | 166 | 169 | 174 | 175 | 176 | -------------------------------------------------------------------------------- /fluffbug-v1.0/fluffbug_leg.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 21 | 23 | 24 | 26 | 27 | image/svg+xml 28 | 30 | 31 | 32 | 33 | 35 | 43 | 49 | 50 | 58 | 64 | 65 | 73 | 79 | 80 | 88 | 94 | 95 | 97 | 99 | 101 | 103 | 105 | 107 | 109 | 111 | 113 | 115 | 117 | 119 | 121 | 123 | 125 | 127 | 129 | 131 | 133 | 135 | 137 | 138 | 171 | 176 | 181 | 186 | 191 | 196 | 197 | 200 | 207 | 208 | 209 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/coxa.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 21 | 23 | 24 | 26 | image/svg+xml 27 | 29 | 30 | 31 | 32 | 34 | 42 | 47 | 48 | 56 | 61 | 62 | 70 | 75 | 76 | 84 | 89 | 90 | 92 | 94 | 96 | 98 | 100 | 102 | 104 | 106 | 108 | 110 | 112 | 114 | 116 | 118 | 120 | 122 | 124 | 126 | 128 | 130 | 132 | 133 | 168 | 172 | 176 | 180 | 184 | 188 | 192 | 196 | 201 | 206 | 211 | 216 | 221 | 225 | 229 | 234 | 238 | 242 | 246 | 250 | 256 | 257 | -------------------------------------------------------------------------------- /fluffbug-v8.2/docs/scad/fluffbug.scad: -------------------------------------------------------------------------------- 1 | $explode = cos(180 + $t * 360) * 10 + 10; 2 | 3 | 4 | module SG90_horn_screw() { 5 | color("DarkGray") union() { 6 | translate([0, 0, 3.4]) difference() { 7 | union() { 8 | cylinder(r=1.3, h=0.9, $fn=8); 9 | translate([0, 0, -4.4]) cylinder(r1=0.25, r2=0.8, h=5, $fn=8); 10 | } 11 | translate([-0.25, -1, 0.4]) cube([0.5, 2, 1]); 12 | translate([1, -0.25, 0.4]) rotate(90) cube([0.5, 2, 1]); 13 | } 14 | } 15 | } 16 | 17 | module SG90_mount_screw() { 18 | color("DarkGray") union() { 19 | translate([0, 0, 3.4]) difference() { 20 | union() { 21 | cylinder(r=1.4, h=0.9, $fn=8); 22 | translate([0, 0, -7.4]) cylinder(r1=0.25, r2=0.8, h=8, $fn=8); 23 | cylinder(r=1.8, h=0.2, $fn=8); 24 | } 25 | translate([-0.25, -1, 0.4]) cube([0.5, 2, 1]); 26 | translate([1, -0.25, 0.4]) rotate(90) cube([0.5, 2, 1]); 27 | } 28 | } 29 | } 30 | 31 | module leg_screw() { 32 | color("black") union() { 33 | translate([0, 0, 3.4]) difference() { 34 | union() { 35 | cylinder(r=1, h=0.5, $fn=6); 36 | translate([0, 0, -3.5]) cylinder(r1=0.2, r2=0.6, h=3.5, $fn=4); 37 | } 38 | } 39 | } 40 | } 41 | 42 | module SG90() { 43 | servo_height = 22.6; 44 | servo_width = 12.2; 45 | servo_depth = 22.8; 46 | servo_ear_depth = 4.8; 47 | servo_big_tip_r = 6.05; 48 | 49 | translate([-6.0, -16.9, -servo_height - 5.8 - 1]) union() { 50 | color("darkslateblue", 0.75) union () { 51 | cube([servo_width, servo_depth, servo_height]); 52 | translate([0, -4.8, 17.6]) { 53 | difference () { 54 | cube([12.0, 32.3, 2.4]); 55 | translate([6.0, 1.5, -0.1]) cylinder(r=2, h=2.6, $fn=10); 56 | translate([6.0, 30.8, -0.1]) cylinder(r=2, h=2.6, $fn=10); 57 | } 58 | } 59 | translate([6.0, 16.9, servo_height]) { 60 | cylinder(r=servo_big_tip_r, h=5.8, $fn=20); 61 | } 62 | translate([6.0, 16.9 - servo_big_tip_r, servo_height]) { 63 | cylinder(r=2.75, h=5.8, $fn=10); 64 | } 65 | } 66 | color("Snow") translate([6.0, 16.9, servo_height + 5.8]) difference() { 67 | cylinder(r=2.275, h=3.9, $fn=6); 68 | cylinder(r=0.8, h=5, $fn=10); 69 | } 70 | } 71 | translate([1, -10, -25]) rotate([0, 90, 90]) { 72 | color("Orange") translate([1.27, 0, 12]) cylinder(r1=0.75, r2=0, h=20); 73 | color("Red") translate([1.27, 1, 12]) cylinder(r1=0.75, r2=0, h=20); 74 | color("Brown") translate([1.27, 2, 12]) cylinder(r1=0.75, r2=0, h=20); 75 | } 76 | } 77 | 78 | module _SG90_horn_arm() { 79 | difference() { 80 | translate([13.8, 0, 3.1]) { 81 | cylinder(r=1.85, h=1.3, $fn=10); 82 | translate([0,-2,0]) rotate([0,0,94]) { 83 | cube([4, 13.8, 1.3]); 84 | } 85 | translate([0,-2,0]) rotate([0,0,86]) { 86 | cube([4, 13.8, 1.3]); 87 | } 88 | } 89 | for(i=[0:5]) { 90 | translate([13.8 - i * 2,0,0]) { 91 | cylinder(r=0.6, h=8, $fn=8); 92 | } 93 | } 94 | } 95 | } 96 | 97 | module SG90_single_horn(angle) { 98 | rotate(angle) color("dimgray") { 99 | difference() { 100 | union() { 101 | cylinder(r=3.3, h=4.4, $fn=20); 102 | _SG90_horn_arm(); 103 | } 104 | translate([0,0,-1]) { 105 | cylinder(r=2.275, h=3.2, $fn=6); 106 | cylinder(r=1, h=8, $fn=10); 107 | translate([0, 0, 4.4]) cylinder(r=2.35, h=2, $fn=10); 108 | } 109 | } 110 | } 111 | } 112 | 113 | module S2Mini() { 114 | translate([0, -16.365, -11.12]) { 115 | rotate([90, 0, 90]) color("darkmagenta") { 116 | linear_extrude(height=0.6, center=true, convexity=10) 117 | import("s2mini.svg"); 118 | } 119 | color("black") { 120 | translate([-3.3, 5.16, 0.8]) cube([3, 20.32, 5.08]); 121 | translate([-3.3, 5.16, 18.6]) cube([3, 20.32, 5.08]); 122 | } 123 | color("silver") hull() { 124 | translate([1.75, 25, 15]) rotate([0, 90, 90]) cylinder(r=1.5, h=7.5, $fn=12); 125 | translate([1.75, 25, 9]) rotate([0, 90, 90]) cylinder(r=1.5, h=7.5, $fn=12); 126 | } 127 | color("black") translate([0, 10, 10]) cube([0.5, 7, 7]); 128 | for (i=[0:1]) 129 | translate([-5.7, 6.43, 19.87 - 2.54 * i * 7]) for(x=[0:7]) for(y=[0:1]) { 130 | translate([0, x * 2.54, y * 2.54]) { 131 | color("gold") cube([12.7, 0.5, 0.5]); 132 | color("silver") translate([5.3, 0.25, 0.25]) rotate([0, 90, 0]) cylinder(r=1.27, h=0.8, $fn=8); 133 | } 134 | } 135 | } 136 | } 137 | 138 | module Femur() { 139 | color("silver", 0.5) { 140 | translate([-5.41, -5.67]) 141 | linear_extrude(height=3, center=true, convexity=10) 142 | import("femur.svg"); 143 | } 144 | } 145 | 146 | module Tibia() { 147 | color("silver", 0.5) { 148 | translate([-8.948, -52.5]) 149 | linear_extrude(height=3, center=true, convexity=10) 150 | import("tibia.svg"); 151 | } 152 | } 153 | module Coxa() { 154 | color("silver", 0.5) { 155 | translate([-5.88, -2.65]) 156 | linear_extrude(height=3, center=true, convexity=10) 157 | import("coxa.svg"); 158 | } 159 | } 160 | 161 | module Servo(angle) { 162 | translate([0, 0, $explode * 3]) SG90_horn_screw(); 163 | translate([0, 0, $explode * 2]) SG90_single_horn(angle); 164 | SG90(); 165 | } 166 | 167 | module Leg(hip=0, knee=0) { 168 | translate([-41, 0, 0]) { 169 | translate([41, 0, 3 - $explode]) rotate(-hip) translate([-41, 0, -3]) { 170 | translate([0, 0, -$explode]) rotate(-knee) Servo(knee); 171 | translate([-0.5, -0.25, 1.5]) Femur(); 172 | translate([10, 0, 1 + $explode * 2]) leg_screw(); 173 | translate([6, 0, 1 + $explode * 2]) leg_screw(); 174 | translate([35, 0, 2 - $explode * 2]) rotate([0, 180, 0]) leg_screw(); 175 | translate([31, 0, 2 - $explode * 2]) rotate([0, 180, 0]) leg_screw(); 176 | rotate(-knee) { 177 | translate([0, 0, -7.9]) Tibia(); 178 | translate([0, 0, -$explode * 2]) { 179 | translate([0, 8.3, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 180 | translate([0, -19.1, -8.5]) rotate([180, 0, 0]) SG90_mount_screw(); 181 | } 182 | } 183 | } 184 | translate([41, 0, 3]) rotate([180, 0, 0]) { 185 | Servo(180 + hip); 186 | translate([0, 0, $explode]) { 187 | translate([0, 8.3, -12.6]) SG90_mount_screw(); 188 | translate([0, -19.1, -12.6]) SG90_mount_screw(); 189 | } 190 | } 191 | } 192 | } 193 | 194 | module BatteryHolder() { 195 | translate([-21.465, -9.145, 0]) color("dimgray") { 196 | cube([4.13, 18.29, 15.24]); 197 | translate([4.13, 0, 0]) cube([34.67, 18.29, 8]); 198 | translate([42.93 - 4.13, 0, 0]) cube([4.13, 18.29, 15.24]); 199 | } 200 | } 201 | 202 | module Battery() { 203 | color("mediumpurple") { 204 | translate([-16.5, 0, 10]) rotate([0, 90, 0]) cylinder(r=8.5, h=33, $fn=20); 205 | } 206 | } 207 | 208 | module IDCPlug2x6() { 209 | color("black") translate([-12, 0, 0]) cube([12, 15.24, 5.08]); 210 | } 211 | 212 | module Body() { 213 | translate([0, -25.4, -10.5]) rotate([90, 0, 90]) color("purple") { 214 | linear_extrude(height=1.6, center=true, convexity=10) 215 | import("body.svg"); 216 | } 217 | translate([-0.8, 0, 43]) rotate([90, 0, -90]) BatteryHolder(); 218 | translate([0.8, -10.16, 43.5]) color("dimgray") cube([3, 20.32, 5.08]); 219 | translate([0.8, -10.16, 25.72]) color("dimgray") cube([3, 20.32, 5.08]); 220 | translate([-2.8, -10.16-15.24, 25.72]) color("dimgray") cube([2, 15.24, 5.08]); 221 | translate([-2.8, -10.16+15.24+5.08, 25.72]) color("dimgray") cube([2, 15.24, 5.08]); 222 | } 223 | 224 | 225 | module Robot() { 226 | rotate([90, 0, 0]) { 227 | translate([0, 0, -22.6-5.8-4]) { 228 | translate([-6.9, 0, -$explode]) Leg(); 229 | translate([6.9, 0, -$explode]) mirror([1, 0, 0]) Leg(); 230 | } 231 | translate([0, 0, 22.6+5.8+4]) mirror([0, 0, 1]) { 232 | translate([-6.9, 0, -$explode]) Leg(); 233 | translate([6.9, 0, -$explode]) mirror([1, 0, 0]) Leg(); 234 | } 235 | translate([-6.72, -8.7 - $explode, -16]) rotate([180, 0, 0]) Coxa(); 236 | translate([-6.72, -8.7 - $explode, 16]) rotate([180, 0, 0]) Coxa(); 237 | translate([-6.72 + $explode, 19.7, -16]) Coxa(); 238 | translate([-6.72 + $explode, 19.7, 16]) Coxa(); 239 | } 240 | 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