Startup Routine

A project log for Mildred the Hexapod

Yet another 3d printed hexapod, but this one is mine! (and it's matte black)

Fran├žois Ubald BrienFran├žois Ubald Brien 04/23/2019 at 18:530 Comments

I am currently working on the startup routine. I am coding a finite state machine to manage the different states and their transitions into one another. For example, I currently have idle, sitting, standing and walking states set up with events to transition from one to the other.

I'm in the process of coding the standing state, which will consist of sensing where each leg is, bring them in a safe sitting position, then stand up.