smallembedded

【Training Camp】Four-legged Hongmeng Dog

Overview

Main control:

The main control adopts Chuanzhi’s HiSilicon Hi386 module

control:

Controlling the dogleg requires 8-channel PWM to drive the servo. Hi386 does not have enough PWM to control the servo, so PCA9685PW is used to control the 8-channel servo through IIC.

shell:

The shell was drawn myself using PROE according to the dimensions given in the training camp video.

Servo:

For cost reasons, the SG90 with plastic gears is used for the steering gear. If possible, the MG90 with metal gears can be used.

program:

Due to time constraints, I did not write the program myself. I used the firmware provided by the training camp for testing. Later, I wrote the program myself to implement more functions, such as installing ultrasonic waves for automatic obstacle avoidance and wireless remote control.

expand:

The Hi386 chip is rich in resources and has sufficient performance. All IO ports have been led out on the board, which can be put to good use in other projects.

Demo video:

The movement between the dog's legs is not very coordinated yet, and the program will be changed later for debugging.

Design Files

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Update:2025-07-04 22:55:46

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