Propeller Based IK Hexapod Project

Paul K.

I did post it in the micro hex thread I think I edited it as you made a post. I also just updated it in the first post here.

DiverBob

Great job on the Hexapod and IK engine! I've been studying your code to use it as a base for my large Hexapod. There will have to be some changes since I am using DC linear actuators instead of servos but the IK engine core should be the same.
One think I dont have a firm grasp on is the IK engine determines the angles needed to move the leg tip to a specific location but how do you specify what that location is? I think you have that in the gait generator but I'm not following the logic in the app yet.

Thanks for any help and I really like the work you've done so far!

Bob Sweeney