Kame: quadruped robot (version with cheap servo)

thingiverse

New Version of the Quadruped Robot Kame Features an Enlarged Body. WiFi Controlled or Manual Mode Available. Auto Mode Logic Can Be Changed in Code for Personalized Experience. The Case Accommodates All Necessary Electronics Including a Rangefinder, Two Batteries (18650), and a Switch. Affordable SG90 Micro Servos are Used to Achieve Smooth Movement. [Video: Kame in Auto Mode](https://www.youtube.com/watch?v=osyaAGDhghQ) Printed Parts: - 1x Kame_Body_botom - 1x Kame_Body_top_left - 1x Kame_Body_top_right - 1x Kame_Body_shell - 1x Kame_Body_layer - 2x Kame_Bracket_left - 2x Kame_Bracket_right - 2x Kame_Leg_left_B - 2x Kame_Leg_right_B - 4x Kame_Leg_A - 4x Kame_spacer - 4x Kame_foot Purchased Parts: - 12 x M3 nylon nut - 12 x M3 nut - 12x M3*30mm - 4x M3*20mm - 10x M3*10-12mm - 1x Nodemcu-CH340 - 1x HC-SR04 - 8x SG90 Micro Servo or SG90 Micro Servo - 1 lot x Ball Bearings 623ZZ 3x10x4mm - 2x BEC: Easy tuned BEC or cheaper BEC - 2x Battery 18650 or Battery 18650 - 1x 2s Balance cable for lipo battery - 1x Connector JST - 1x On/Off Rectangle Rocker Switch - Insulating tape Options: - 1x Servo tester - 1x Simple charger for 2-3s Li-Po Firmware: [serg_dev branch](https://github.com/serg0000/fatKame/tree/serg_dev) Connection Mapping (Wire Connection Diagram to be Posted Soon) Servos: - Front right outer - D6 - Front right inner - D4 - Front left outer - D8 - Front left inner - D1 - Rear right outer - D3 - Rear right inner - D5 - Rear left outer - D2 - Rear left inner - D7 HC-SR04: - Echo - SK (IO-10 on ESP-12E WIFI module, check connection with a multimeter) - Trim - D0 (IO-16 on ESP-12E WIFI module, check connection with a multimeter)