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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here

LIDAR Lite Hexapod Demo

This demo will show off the capabilities of the LIDAR Lite by using it to control a PhantomX Hexapod.

Required Hardware

Hardware Setup

If you have not already done so, please go through the PhantomX Hexapod Getting Started Guide .Also, go through the LIDAR Lite getting started guide to hook up and test your LIDAR Lite. NOTE: You should leave your servos wired as you did in the Hexapod setup guide.

Connection diagram for ArbotiX Robocontroller to LIDAR Lite
LIDAR Lite Pin ArbotiX Pin
5v D16 Power Pin
GND D16 Ground Pin
SDA D16 Data Pin
SCL D17 Data Pin

Hardware Programming

Download the firmware and software zip file. Extract this file's contents to your computer.

Now open

firmware/Hexapod_Mark_II_Lidar/Hexapod_Mark_II_Lidar.ino

in your Arduino IDE and load it onto your ArbotiX-M. Your hexapod will stand up and begin its program. If an object is less than 90cm away, the hexapod will move away from the object. If an object is more than 110cm away, it will move towards the object. Between 90cm and 110 cm, the hexapod will stand still. You can adjust the value that the hexapod tries to maintain away from an object (GOAL) and the deadband around the goal (DEADBAND) in lines 26/27 of the code

#define DEADBAND 10
#define GOAL 100

The LIDAR Lite has a vary narrow beam, so you may need to use a box or other object to make the hexapod move - if the LIDAR lite senses distance between your feet, the hexapod may still try to approach you.

Possible improvements to this demo could be

  • Turning the hexapod body to scan a larger area
  • Mounting a panning servo to scan a larger area
  • Using more sophisticated position error correction (Like PID) to create smoother start/stops of the hexapod.

Video Demo