What is PiHexJ?

Raspberry Pi based Hexapod robot written in Java with additional AVR micro controller. Inventory of parts:
  • Raspberry Pi Model 2 - Main controller
  • Java 1.8 - Main code and servo control written in Java using Pi4J library
  • 2 x Adafruit 16-Channel PWM/Servo Driver PCA9685 - Servo driver devices accessed via I2C interface from Raspberry pi using custom Java PCA9685 PWM driver.
  • Atmel AVR atmega328 - microcontroller for sensor and radio control interface
  • Spektrum AR610 6 Channel RC Receiver - provides radio control interface 
  • Lynxmotion hexapod chassis
  • 18 std size high torque servos.
The blog http://www.margic.com tracks the development of the robot. There are plenty controllers and prebuilt robot kits available out there but I wanted to build my own for fun and share the process with everyone. All the code is available at https://github.com/margic/pihexj.

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