🕷️ Hex-Spider v2.0: Advanced Hexapod Controller

An ESP32-powered spider robot featuring a custom Glassmorphism Web Interface, a Tripod Walking Gait, and specialized movement sequences like Dance and Attack modes.

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📸 Gallery

🤖 Robot Model	🧪 Testing Phase	🌐 Web Interface

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🚀 Features

• Wireless Control: Host a local WiFi Access Point to control the robot from any smartphone or PC browser.
• Tripod Walking Gait: Efficient 6-legged movement logic for stable forward, backward, and lateral traversal.
• Modern UI: A clean, mobile-responsive "Glassmorphism" control hub with a directional D-PAD.
• Special Sequences: * Dance Mode: A rhythmic multi-step sequence with high-speed servo interpolation.
  • Attack Pose: Aggressive front-leg striking posture.
  • Wiggle: A playful high-frequency hip oscillation.
• Smooth Motion: Non-blocking servo interpolation using the PCA9685 driver for fluid, lifelike movement.

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🛠️ Hardware Requirements

• Microcontroller: ESP32 (WROOM-32)
• Servo Driver: Adafruit PCA9685 16-Channel PWM Shield
• Servos: 12x MG90S or SG90 Micro Servos
• Power: 7.4V LiPo Battery (with Buck Converter for 5V/6V Servo power)
• Communication: I2C (Pins 21 SDA, 22 SCL)

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💻 Software Setup

1. Libraries: Ensure you have the following libraries installed in your Arduino IDE:
   • WiFi.h
   • WebServer.h
   • Wire.h
   • Adafruit_PWMServoDriver.h
2. Configuration: * Default SSID: SpiderRobot_Pro
   • Default Password: 12345678
   • Default IP: 192.168.4.1
3. Upload: Flash the provided .ino code to your ESP32.
4. Connect: Connect your phone to the "SpiderRobot_Pro" WiFi and navigate to http://192.168.4.1 in your browser.

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📐 Motion Logic

The robot utilizes a State Machine architecture to handle overlapping movements:

• updateServoPositions(): Manages the "Ease-In/Ease-Out" effect by stepping angles toward a target rather than jumping instantly.
• executeSequences(): Manages the timing and gait phases for walking and dancing.

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Contributor:

• ItzVoidTech (Swarnendu Kundu)