p.Brain-u24 Hex Engine

p.Brain-u24 Hex Engine
The HexEngine is a software module designed for the p.Brain-ยต24 hardware modules. The HexEngine is a user configurable locomotion engine for hexapod robots. HexEngine is configured via a serial port (RS-232 or TTL level) using standard terminal software such as HyperTerminal or TerraTerm (As HyperTerminal is no longer included with Vista, I recommend using TeraTerm Pro available here: TeraTerm Pro V2.3). Once the HexEngine is configured for the target hexapod platform, the hexapod locomotion can be controlled using simple direction commands over either the RS-232 or TTL serial port. The idea of the HexEngine is to allow you to get your hexapod up and running with minimum fuss, allowing you to concentrate on obstacle avoidance or other high level control applications.

Configuration via terminal port or control port via optional blue tooth link (bluetooth not include)
Locomotion control via terminal port or control port
Configurable body geometry
Configurable leg geometry
Multiple Servo output re-map configurations
Gait configurations
X,Y,Z Body rotation and translation
Walk in any direction
Servo rotation calibration
Servo reverse for each leg joint
Leg calibration offsets
Four selectable gaits patterns (can be changed during locomotion )
Two selectable leg move styles, giving a total of eight individual gaits.
Eight supported baud rates
Four PWM servo ranges, standard, extended and full (500 to 2500uS)
Dedicated PWM hardware for precision 1uS PWM resolution
Head Pan, TIlt, Twist and Grip control
Auto Head Leveling

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