5-motor hexapod circuit


Posted on Feb 5, 2014

This circuit has a long and storied history - starting with an idea by Rich Piotter, then being honed and simplified by Wilf Rigter and Bruce Robinson. The final result does not show the necessary motor drivers (usually H-bridge based), but here`s the high-level circuit: Rich started this off with a circuit he posted to the Yahoo BEAM group on 9/


5-motor hexapod circuit
Click here to download the full size of the above Circuit.

25/2000 in post #5955. A few days later, Wilf presented his version of the circuit in Yahoo groups post #6020. Over the course of the next year, Bruce simplified things a bit, reducing pin count, yielding the circuit diagram above. This final version was unleashed upon the world indirectly, via an announcement by "Sparky" Garvin in Yahoo groups post #19029.




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