├── README.md
├── hexapod.php
├── hexapod.py
├── hexapod.py.save
└── index.html


/README.md:
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 1 | # Hexapod Walker using Raspberry Pi
 2 | 
 3 | ### Prerequisites:
 4 |   1. Python 2.7 or later
 5 |   2. Apache Server
 6 |   3. pigpiod library for servo control
 7 | 
 8 | Instructions:
 9 |   1. Browse to your Pi's IP address.
10 |   2. Control using the buttons!
11 |   
12 | The three-servo hexapod walker design is original seen in the book PIC Robotics: A Beginner's Guide to Robotics Projects Using the PICmicro by John Iovine
13 | 
14 | 


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/hexapod.php:
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 1 | <?php
 2 |   system("sudo killall python");
 3 |   $code = $_POST['code'];
 4 |   
 5 |   switch($code){
 6 |   case "right":
 7 |     system("sudo python /home/pi/hexapod/hexapod.py m r &");
 8 |     break;
 9 |   case "front":	
10 |     system("sudo python /home/pi/hexapod/hexapod.py m f &");
11 |     break;
12 |   case "back":
13 |     system("sudo python /home/pi/hexapod/hexapod.py m b &");
14 |     break;
15 |   case "left":
16 |     system("sudo python /home/pi/hexapod/hexapod.py m l &");
17 |     break;
18 |   case "stop":
19 |     system("sudo python /home/pi/hexapod/hexapod.py m s &");
20 |     break;
21 |   case "auto":
22 |     system("sudo python /home/pi/hexapod/hexapod.py a &");
23 |     break;
24 |   default:
25 |   }
26 | 
27 | ?>
28 | 


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/hexapod.py:
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  1 | #Hexapod.py
  2 | #Code for Hexapod Walker by R. Pelayo
  3 | 
  4 | #!/usr/bin/python
  5 | 
  6 | import RPi.GPIO as GPIO
  7 | import pigpio
  8 | import time
  9 | import sys
 10 | import os
 11 | import signal
 12 | GPIO.setmode(GPIO.BCM)
 13 | GPIO.setwarnings(False)
 14 | 
 15 | #pin definitions
 16 | tilt = 4
 17 | br = 21
 18 | bl = 6
 19 | trig = 23
 20 | echo = 24
 21 | head = 26
 22 | 
 23 | #setup pins for ultrasonic sensor
 24 | GPIO.setup(trig, GPIO.OUT)
 25 | GPIO.setup(echo, GPIO.IN)
 26 | 
 27 | #initialize pi object
 28 | pi = pigpio.pi()
 29 | 
 30 | #move backward
 31 | def backward():
 32 | 	pi.set_servo_pulsewidth(tilt, 800) 
 33 | 	time.sleep(0.15)
 34 | 	pi.set_servo_pulsewidth(bl, 800)   	
 35 | 	time.sleep(0.15)
 36 | 	pi.set_servo_pulsewidth(tilt, 2000)
 37 | 	time.sleep(0.15)
 38 | 	pi.set_servo_pulsewidth(br, 1800) 
 39 | 	time.sleep(0.15)
 40 | 	pi.set_servo_pulsewidth(tilt, 1500) 
 41 | 	time.sleep(0.15)
 42 |  	pi.set_servo_pulsewidth(bl, 1500)   
 43 | 	time.sleep(0.15)
 44 | 	pi.set_servo_pulsewidth(br, 1500)   
 45 | 	time.sleep(0.15)
 46 | 	return;
 47 | #move forward
 48 | def forward():
 49 | 	pi.set_servo_pulsewidth(tilt, 800) 
 50 | 	time.sleep(0.15)
 51 | 	pi.set_servo_pulsewidth(bl, 1800)   	
 52 | 	time.sleep(0.15)
 53 | 	pi.set_servo_pulsewidth(tilt, 2000)
 54 | 	time.sleep(0.15)
 55 | 	pi.set_servo_pulsewidth(br, 800) 
 56 | 	time.sleep(0.15)
 57 | 	pi.set_servo_pulsewidth(tilt, 1500) 
 58 | 	time.sleep(0.15)
 59 |  	pi.set_servo_pulsewidth(bl, 1500)   
 60 | 	time.sleep(0.15)
 61 | 	pi.set_servo_pulsewidth(br, 1500)   
 62 | 	time.sleep(0.15)
 63 | 	return;
 64 | #move left
 65 | def left():
 66 | 	pi.set_servo_pulsewidth(tilt, 800) 
 67 | 	time.sleep(0.15)
 68 | 	pi.set_servo_pulsewidth(bl, 1800)   	
 69 | 	time.sleep(0.15)
 70 | 	pi.set_servo_pulsewidth(tilt, 2000)
 71 | 	time.sleep(0.15)
 72 | 	pi.set_servo_pulsewidth(br, 1800) 
 73 | 	time.sleep(0.15)
 74 | 	pi.set_servo_pulsewidth(tilt, 1500) 
 75 | 	time.sleep(0.15)
 76 |  	pi.set_servo_pulsewidth(bl, 1500)   
 77 | 	time.sleep(0.15)
 78 | 	pi.set_servo_pulsewidth(br, 1500)   
 79 | 	time.sleep(0.15)
 80 | 	return;
 81 | #move right
 82 | def right():
 83 | 	pi.set_servo_pulsewidth(tilt, 800) 
 84 | 	time.sleep(0.15)
 85 | 	pi.set_servo_pulsewidth(bl, 800)   	
 86 | 	time.sleep(0.15)
 87 | 	pi.set_servo_pulsewidth(tilt, 2000)
 88 | 	time.sleep(0.15)
 89 | 	pi.set_servo_pulsewidth(br, 800) 
 90 | 	time.sleep(0.15)
 91 | 	pi.set_servo_pulsewidth(tilt, 1500) 
 92 | 	time.sleep(0.15)
 93 |  	pi.set_servo_pulsewidth(bl, 1500)   
 94 | 	time.sleep(0.15)
 95 | 	pi.set_servo_pulsewidth(br, 1500)   
 96 | 	time.sleep(0.15)
 97 | 	return;
 98 | #stop	
 99 | def stop():
100 | 	pi.set_servo_pulsewidth(tilt, 0) 
101 | 	time.sleep(0.15)
102 |  	pi.set_servo_pulsewidth(bl, 0)   
103 | 	time.sleep(0.15)
104 | 	pi.set_servo_pulsewidth(br, 0)   
105 | 	time.sleep(0.15)
106 | 	
107 | 	return
108 | #action when obstacle is detected
109 | def obstacleDetected():
110 | 	backward()
111 | 	backward()
112 | 	backward()
113 | 	backward()
114 | 	backward()
115 | 	right()
116 | 	right()
117 | 	right()
118 | 	
119 | 	return
120 | #action to turn head for scanning obstacles
121 | def turnHead():
122 | 	pi.set_servo_pulsewidth(head, 700)
123 | 	time.sleep(0.5)
124 | 	pi.set_servo_pulsewidth(head, 2100)
125 | 	time.sleep(0.5)
126 | 	pi.set_servo_pulsewidth(head, 1500)
127 | 	time.sleep(0.5)
128 | 
129 | 	return 
130 | #autonomous mode
131 | def autoMode():
132 | 	print ("Running in auto mode!")
133 | 
134 | 	turnHead()
135 | 	
136 | 	time.sleep(0.5)
137 | 	GPIO.output(trig, 0)
138 | 	time.sleep(0.5)
139 | 	
140 | 	GPIO.output(trig,1)
141 | 	time.sleep(0.00001)
142 | 	GPIO.output(trig,0)
143 | 	
144 | 	while GPIO.input(echo) == 0:
145 | 		pulse_start = time.time()
146 | 	
147 | 	while GPIO.input(echo) == 1:
148 | 		pulse_end = time.time()
149 | 
150 | 	pulse_duration = pulse_end - pulse_start
151 | 	
152 | 	distance = pulse_duration * 17150
153 | 	
154 | 	distance = round(distance, 2)
155 | 	
156 | 	if distance > 1 and distance < 35:
157 | 		obstacleDetected()
158 | 	else:
159 | 		forward()
160 | 		forward()
161 | 		forward()
162 | 	
163 | 	pi.set_servo_pulsewidth(head, 2100)
164 | 	time.sleep(0.5)
165 | 	return
166 | #manual mode	
167 | def manualMode():
168 | 	
169 |         move = str(sys.argv[2])
170 | 
171 |         if move == "F" or move == "f":
172 | 		print("Moving forward!")
173 | 		forward()
174 | 	elif move == "B" or move == "b":
175 | 		print("Moving backward!")
176 | 		backward()
177 | 	elif move == "L" or move == "l":
178 | 		print("Moving left!")
179 | 		left()
180 | 	elif move == "R" or move == "r":
181 | 		print("Moving right!")
182 | 		right()
183 | 	else:
184 | 		print("Invalid argument!")
185 | 	
186 | 	return
187 | #main routine	
188 | def main():
189 | 	opt = str(sys.argv[1])
190 | 	
191 | 	if opt == "A" or opt == "a":
192 | 		autoMode()
193 | 	elif opt == "M" or opt == "m":
194 | 		manualMode()
195 | 	
196 | 	return
197 | 		
198 | while True:
199 | 	main()
200 | 
201 | GPIO.cleanup()
202 | pi.stop()
203 | 
204 | 


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/hexapod.py.save:
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https://raw.githubusercontent.com/rppelayo/raspberry-pi-hexapod-walker/fbf1d1d23a57623d13bfe7d50f3b44af9cd71819/hexapod.py.save


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/index.html:
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  1 | <html>
  2 | <head>
  3 | <meta charset="UTF-8">
  4 | <title>RaspberryPi Hexapod</title>
  5 | <script type="text/javascript">
  6 | function button(value) {
  7 |   if(value=='manual'){
  8 | 	document.getElementById('forward').disabled=false;
  9 | 	document.getElementById('backward').disabled=false;
 10 | 	document.getElementById('left').disabled=false;
 11 | 	document.getElementById('right').disabled=false;
 12 | 	document.getElementById('stop').disabled=false;
 13 |   }else if(value=='auto'){
 14 |  	document.getElementById('forward').disabled=true;
 15 |         document.getElementById('backward').disabled=true;
 16 |         document.getElementById('left').disabled=true;
 17 |         document.getElementById('right').disabled=true;
 18 |         document.getElementById('stop').disabled=true;
 19 |  }
 20 |   var request = false;
 21 |   if(window.XMLHttpRequest){
 22 |     request = new XMLHttpRequest();
 23 |   }else if(window.ActiveXObject){
 24 |     try {
 25 |       request = new ActiveXObject("Msxml2.XMLHTTP");
 26 |     } catch(e) {
 27 |       request = new ActiveXObject("Msxml.XMLHTTP");
 28 |     }
 29 |   }
 30 |   //XMLHttpRequest failed
 31 |   if(!request){
 32 |     alert("XMLHttpRequest failed...");
 33 |     return false;
 34 |   }
 35 |   //query
 36 |   var send = 'code=' + value;
 37 |   request.open('POST','/hexapod/hexapod.php',true);
 38 |   //HTML header
 39 |   request.setRequestHeader('Content-Type','application/x-www-form-urlencoded');
 40 |   request.send(send);
 41 | }
 42 | </script>
 43 | <style>
 44 | .button {
 45 |  	height:100px;
 46 | 	width: 80px;
 47 | 	border: 0;
 48 | }
 49 | #left{
 50 | 	background: url(assets/Go%20Right.png) no-repeat;
 51 | 	position: relative;
 52 | 	left: -150px;
 53 | 	top: 80px;
 54 | }
 55 | #left:hover{
 56 | 	background: url(assets/GO%20right_action.png) no-repeat;
 57 | }
 58 | #right{
 59 | 	background: url(assets/GO-left.png) no-repeat;
 60 | 	position: relative;
 61 | 	left: 250px;
 62 | 	top: 80px;
 63 | }
 64 | #right:hover{
 65 | 	background: url(assets/GO%20left%20Action.png) no-repeat;
 66 | }
 67 | #forward{
 68 | 	background: url(assets/Forward.png) no-repeat;
 69 | 	position: relative;
 70 | 	left: 91px;
 71 | 	top: 6px;
 72 | }
 73 | #forward:hover{
 74 | 	background: url(assets/Forward_Action.png) no-repeat;
 75 | }
 76 | #backward{
 77 | 	background: url(assets/Backward.png) no-repeat;
 78 | 	position: relative;
 79 | 	left: 8px;
 80 | 	top: 155px;
 81 | }
 82 | #backward:hover{
 83 | 	background: url(assets/Backward_action.png) no-repeat;
 84 | }
 85 | #stop{
 86 | 	background: url(assets/STOP.png) no-repeat;
 87 | 	position: relative;
 88 | 	left: -160px;
 89 | 	top: 80px;
 90 | }
 91 | #auto{
 92 | 	background-color: 34495e;
 93 | 	color: #ffffff;	
 94 | }
 95 | #manual{
 96 | 	background-color: 3598db;
 97 | 	color: #ffffff;
 98 | }
 99 | 
100 | </style>
101 | </head>
102 | <body>
103 | <center>
104 | <br>
105 | <br>
106 | <img src="assets/Logo.png"></img>
107 | <br>
108 | <br>
109 | 
110 | <input id="auto" class="button" type="button" value="Auto" onClick="button('auto')">
111 | <input id="manual" class="button" type="button" value="Manual" onClick="button('manual')">
112 | 
113 | <br>
114 | <br>
115 | <br>
116 | 
117 | <input id="right" class="button" disabled="true" type="button" value="" onClick="button('right')">
118 | <input id="forward" class="button" disabled="true" type="button" value="" onClick="button('front');">
119 | <input id="backward" class="button" disabled="true" type="button" value="" onClick="button('back');">
120 | <input id="left" class="button" disabled="true" type="button" value="" onClick="button('left');">
121 | <input id="stop" class="button" disabled="true" type="button" value="" onClick="button('stop');">
122 | </center>
123 | 
124 | </body>
125 | </html>
126 | 


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