ZESBEEN:步行六足机器人的Arduino项目

# ZESBEEN !!! work in progress - not complete nor completely uploaded yet !!! Arduino project for walking six-legged robot. Pronounce "zesbeen" as "zesbane", it means of course sixlegs. The project consists of the hardware and software for a robot that walks on six legs whereby each leg has two servo-motors, for DIJ (Thy) and KNIE (knee). The front and hind legs have also an extra servo for the SCHOUDER (shoulder), for making turns. The robot has two Arduino Mega's: one for the walking movement, one for the sensors (plus the SCHOUDERS). The two arduino's communicate via opto-couplers. The software consists of two main-programs plus a number of classes, the latter primarily to encapsulate hardware components. Some of the main classes are: MP_GEWRICHT (joint) - encapsulating the Servo's. MP_BEEST (beast) - encapsulating the six legs as a group The sensor-controller receives real-world information and turns this into Events. The Events lead to state-changes in a state machine. Each state corresponds with a certain movement of ZESBEEN. In this way, ZESBEEN is able to walk in a room and avoid obstacles.