Hexapod control with ESP32

This is a program that setups 3 PCA9685 to control the 18 servos of an hexapod using the espressif library for ESP32.

Last version of espressif library tested with this code is Commit dcaa753f37bd90c2ec40d24940bc1c132d9532d9.

Note: If you are an ekumember, here is a simple doc with some help.

Prerequisites

Before building you need to setup the espressif enviroment. Follow Standard Toolchain Setup.

Build

1. Go to the esp folder (You should have it created once you completed the prerequisites).

cd ~/esp

2. Clone this repo

git clone https://gitlab.com/ekumenlabs/ekumembers/ekuthon2022/hexapod_assembly

3. cd hexapod_assembly

4. Set up the environment variables

. $HOME/esp/esp-idf/export.sh

5. Build project

idf.py build

5. Flash ESP32: Follow [espressif guide](. $HOME/esp/esp-idf/export.sh).

Important

You will see some code related to bluetooth. That is a work in progress and it is not integrated. That is why it is commented in the CMakeLists file.