Hexapods and Code for BS2, BS2sx, and Propeller; post your own

[vanmunch]

I'm posting my source code, pictures, and video of my hexapods using the BS2, BS2sx, and the Propeller in hope of helping people get interested in using them for their hexapod (or other walking robot). All of the code is 100% original and you may use it for your project as long as it's not commercial. All that I ask is that post updates, code, pictures and videos of your project here. (If want to do something commercial I'm sure that we can work $omething out ) I also just started learning how to program my boe-bot a couple of years ago so I'm sure that the code can also be greatly improved. I'm also not a professional speller, having just learned English ~30 years ago. In all of these projects I'm using a symmetric AH3-R hexapod designed by Lynxmotion and the electronics is all Parallax!


Basic Stamp2 controlling two propeller servo controllers. Code just allows the robot the walk straight. No obstacle avoidance. It would be easy to modify the code so that it turns by actually rotating its' body by having the legs of one side of robot move slower or go in reverse. It would drive like a tank.
http://www.youtube.com/watch?v=V3KSQxtWOYQ

Basic Stamp2sx controlling two propeller servo controllers. Code gives the robot the ability to avoid obstacles with its back-to-back Ping))) sensors. If it detects an object, it moves its "head" left and right in greater and greater movements until if finds a clear path. It then walks in that direction without turning it's body. The body never turns.
http://www.youtube.com/watch?v=hl98WNt4ijQ
http://www.youtube.com/watch?v=K-0Ti-C330w


Propeller controlling two propeller servo controllers. Ported the BSsx code to the propeller, again it can change and go in any direction without turning it's body. The body never turns.
http://www.youtube.com/watch?v=Mkn0oeqwf0k


Farming Robot Prospero uses a propeller demo board controlling two propeller servo controllers. Prospero uses the walking code mentioned above for locomotion along with a bunch more stuff for doing all of the farming stuff.
http://www.youtube.com/watch?v=ACtihXjq2B0
http://www.youtube.com/watch?v=jdEdV-ct1HM

[vanmunch]

Just an FYI, the folks over at Lynxmotion have started to port their hexapod code over to the Propeller! The link is here:

http://www.lynxmotion.net/viewtopic.php?f=8&t=6872