I have designed a 3DOF quadruped robot. There are 12 stepper motors. 4 for horizontal hip rotation, 4 for thigh vertical movement using threaded rods as linear actuators, and 4 for foot vertical movement also using threaded rods. I will update with images for clarification.
The stepper motors are Nema 17HS3430 [[login to view URL]] and A3967 EasyDriver V44 are used as stepper motor drivers [[login to view URL]]
The control board being used is a Raspberry pi 3B.
I need a control script that is easy to use with classes and commenting. I have been using this script [[login to view URL]] for another hexapod design with servo motors.
I also have a smaller robot with 2 servo motors for which I also need a control script.
Budget: 3000 SEK
Deadline: 21 May 2018