v1.0

.github/workflows/build_pc_client_linux.yml

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+# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+
+name: Build PC Client on Linux
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.9
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.9
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install PySide6 psutil pyinstaller
+    - name: PyInstaller
+      run: |
+        cd ./software/pc
+        pyinstaller hexapod.spec
+        cp mainwindow.ui ./dist/hexapod/
+    - name: Archive built module
+      uses: actions/upload-artifact@v2
+      if: success()
+      with:
+        name: hexapod_linux
+        path: ./software/pc/dist/hexapod

.github/workflows/build_pc_client_windows.yml

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+# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+
+name: Build PC Client on Windows
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+
+    runs-on: windows-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.9
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.9
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install PySide6 psutil pyinstaller
+    - name: PyInstaller
+      run: |
+        cd software\pc
+        pyinstaller hexapod.spec
+        copy mainwindow.ui .\dist\hexapod\
+    - name: Archive built module
+      uses: actions/upload-artifact@v2
+      if: success()
+      with:
+        name: hexapod_windows
+        path: .\software\pc\dist\hexapod

.gitignore

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+.DS_Store
+*.pyc
+.vscode/
+*.blend1
+software/pc/config.json
+*.aab

README.md

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+# <img src="./images/hexapod-logo.svg" alt="logo" width="64"/> Hexapod
+
+A 3D Printed Hexapod Robot
+
+![hexapod_model](./images/hexapod_model.jpg)
+
+![booting_up](./images/booting_up.gif)
+
+## Introduction
+
+This agile, 3D-printed hexapod robot, built with ESP32 and Arduino, offers a range of advanced features, including:
+
+- A robust, durable structure
+- WiFi-enabled remote control
+- Smooth, agile movement
+- Over-the-air (OTA) firmware updates for easy maintenance
+
+### Watch on Youtube
+
+[![youtube_booting_up](https://img.youtube.com/vi/QFQOPC1Mbdo/0.jpg)](https://www.youtube.com/watch?v=QFQOPC1Mbdo)
+
+[![youtube_remote_control](https://img.youtube.com/vi/YvXEto3tymQ/0.jpg)](https://www.youtube.com/watch?v=YvXEto3tymQ)
+
+## Electronics
+
+| Name                       | Thumbnail                                                                | Required          | Note      |
+| -------------------------- | ------------------------------------------------------------------------ | ----------------- | --------- |
+| ESP32 Dev Module           | <img src="./images/esp32.jpg" alt="esp32" width="300"/>                  | 1                 |           |
+| MG92B or MG90S (metal gear)| <img src="./images/mg92b.jpg" alt="mg92b" width="300"/>                  | 18                | Can be mixed |
+| PCA9685 servo driver       | <img src="./images/PCA9685.jpg" alt="PCA9685" width="300"/>              | 2                 | Need to be configured as different I2C addresss |
+| XL4005 DC-DC step down     | <img src="./images/XL4005.jpg" alt="XL4005" width="300"/>                | 2                 | 6V output |
+| Mini 360 DC-DC step down   | <img src="./images/mini360.jpg" alt="mini360" width="300"/>              | 1                 | 5V output |
+| Switch                     | <img src="./images/switch.jpg" alt="switch" width="300"/>                | 1                 |           |
+| 18650 battery              | <img src="./images/battery.jpg" alt="battery" width="300"/>              | 2                 |           |
+| 18650 battery holder       | <img src="./images/battery_holder.jpg" alt="batter_holder" width="300"/>  | 1                 |           |
+
+### Connection Diagram
+
+![diagram](./images/diagram.svg)
+
+## Mechanism
+
+### Bill of Materials (BOM)
+
+#### 3D-Printed Parts
+
+![whole_assembly](./images/assembly_whole.jpg)
+
+##### Body x 1
+
+![body_assembly](./images/assembly_body.jpg)
+
+| Filename       | Thumbnail                                                               | Required |
+| -------------- | ----------------------------------------------------------------------- | -------- |
+| body_top       | <img src="./images/body_top.jpg" alt="body_top" width="300"/>           | 1        |
+| body_base      | <img src="./images/body_base.jpg" alt="body_base" width="300"/>         | 1        |
+| body_side      | <img src="./images/body_side.jpg" alt="body_side" width="300"/>         | 2        |
+| body_front_back| <img src="./images/body_front_back.jpg" alt="body_front_back" width="300"/>| 2        |
+| body_battery   | <img src="./images/body_battery.jpg" alt="body_battery" width="300"/>     | 1        |
+| body_servo_side1 | <img src="./images/body_servo_side1.jpg" alt="body_servo_side1" width="300"/> | 6        |
+| body_servo_side2 | <img src="./images/body_servo_side2.jpg" alt="body_servo_side2" width="300"/> | 6        |
+| body_servo_top   | <img src="./images/body_servo_top.jpg" alt="body_servo_top" width="300"/>     | 6        |
+
+##### Joint x 6
+
+![joint_assembly](./images/assembly_joint.jpg)
+
+| Filename        | Thumbnail                                                                   | Required | Note      |
+| --------------- | --------------------------------------------------------------------------- | -------- | --------- |
+| joint_bottom    | <img src="./images/joint_bottom.jpg" alt="joint_bottom" width="300"/>       | 12       |           |
+| joint_cross     | <img src="./images/joint_cross.jpg" alt="joint_cross" width="300"/>         | 6        |           |
+| joint_top_mg90s | <img src="./images/joint_top_mg90s.jpg" alt="joint_top_mg90s" width="300"/> | 12       | For MG90S |
+| joint_top_mg92b | <img src="./images/joint_top_mg92b.jpg" alt="joint_top_mg92b" width="300"/> | 12       | For MG92B |
+
+##### Leg x 6
+
+![leg_assembly](./images/assembly_leg.jpg)
+
+| Filename        | Thumbnail                                                                   | Required |
+| --------------- | --------------------------------------------------------------------------- | -------- |
+| leg_bottom      | <img src="./images/leg_bottom.jpg" alt="leg_bottom" width="300"/>           | 6        |
+| leg_side        | <img src="./images/leg_side.jpg" alt="leg_side" width="300"/>               | 12       |
+| leg_top         | <img src="./images/leg_top.jpg" alt="leg_top" width="300"/>                 | 6        |
+
+##### Foot x 6
+
+![foot_assembly](./images/assembly_foot.jpg)
+
+| Filename        | Thumbnail                                                                   | Required | Note      |
+| --------------- | --------------------------------------------------------------------------- | -------- | --------- |
+| foot_bottom     | <img src="./images/foot_bottom.jpg" alt="foot_bottom" width="300"/>         | 6        |           |
+| foot_ground     | <img src="./images/foot_ground.jpg" alt="foot_ground" width="300"/>         | 6        |           |
+| foot_tip        | <img src="./images/foot_tip.jpg" alt="foot_tip" width="300"/>               | 6        |           |
+| foot_top_mg90s  | <img src="./images/foot_top_mg90s.jpg" alt="foot_top_mg90s" width="300"/>   | 6        | For MG90S |
+| foot_top_mg92b  | <img src="./images/foot_top_mg92b.jpg" alt="foot_top_mg92b" width="300"/>   | 6        | For MG92B |
+
+##### Accessory
+
+| Filename               | Thumbnail                                                                                 | Note             |
+| ---------------------- | ----------------------------------------------------------------------------------------- | ---------------- |
+| accessory_spacer_mg90s | <img src="./images/accessory_spacer_mg90s.jpg" alt="accessory_spacer_mg90s" width="300"/> | Spacer for MG90S |
+| accessory_cable_holder | <img src="./images/accessory_cable_holder.jpg" alt="accessory_cable_holder" width="300"/> |                  |
+
+#### Others
+
+| Name      | Spec    | Required |
+| --------- | ------- | -------- |
+| Screw     | M2 6mm  | 36       |
+| Screw     | M2 10mm | 198      |
+| Nuts      | M2      | 234      |
+| Pin (304) | M4 6mm  | 18       |
+| Bearing   | MR74-2RS (4mm ID, 7mm OD, 2.5mm Bore) | 18 |
+
+## Software
+
+### ESP32-Arduino
+
+Source code is under `./hexapod_arduino`.
+
+- `hexapod_arduino.ino`: Main Arduino sketch
+- `config.h`: Configuration header. Change the configurations based on your servo connections
+- `motion.h`: Automatically generated motion look-up-table using `path_tool'
+
+### Android
+
+*Working in progress*
+
+### PC
+
+*Working in progress*