Roby Hexapod

This Hexapod was created based on the work of Smallptsai (https://www.thingiverse.com/thing:3270159) for the mechanical and electronics part.
On that of Markwtech (https://www.thingiverse.com/thing:3463845) for the programming part.

Mechanical:
modification of the body and legs to be able to mount generic MG90 servos but also to reinforce some fixings and use the fixing screws supplied with the servos.

Arduino Program:
Adaptation of the Markwtech program to the morphology of the robot.
Added code for Bluetooth.
Added “Dance” mode
Added “Obstacle Passage” mode
RGB ws2812 LED management.
Putting parameters in eeprom.
Motor calibration via mobile application.
Added an ESP32 camera with LED.

Electronics:
Inspired by smallptsai electronics, I used an Atmega 644p processor to be able to manage the 18 servos without the need for PCA9685. To do this, I simply had to modify the Arduino servo library. The library files are provided via the link below. Programming of the proc