The Pi-Bug robot uses a common design that allows three servos to be used to create a small, six-legged robot. The servos at the two ends provide forward and backward movement, while the servo in the middle provides the control. The following photo shows the mounted servos:
The servos are mounted upside-down on the underside of the board
The following table assumes that the left and right servos are mounted upside-down on the underside of the board, with the middle servo fitted vertically. You will have to adjust the code if mounted differently.
The following table shows the servo movements used to walk forward:
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Direction ... |
