Author: Pat McMahon

How to build your own “Plug & Go”, Scorpio Technology HEXAPOD Shield to simply attach to your Arduino Uno R3, IR/Bluetooth, Smart Phone Controlled, HEXAPOD.

Pat McMahon– V1– 17/8/2021

For SCORPIO TECHNOLOGY

Design Brief – Using an Arduino Uno R3, blank KEYESTUDIO shield, IR/Bluetooth, Smart Phone Controlled, HEXAPOD Kit. You will build your “Plug & Go” HEXAPOD Shield, to be controlled from an app on your Smart Phone or IR Remote. We will use an Arduino Uno R3, Shield, a HC-05 and a 38KZ IR Receiver.

“Plug & Go” Shield

Free
Smart
Phone
Android
Apps

IR
Remote

“Arduino Bluetooth
RC Car”

“ Car Bluetooth RC ”

HEXAPOD

Parts required below -

Place Shield on UNO and “Plug & Go”

Arduino R3 Uno Compatible

HC-05
Bluetooth
Module

38KZ IR
Receiver

Male Pin Headers

Male Pin Headers

Female Pin Headers

Keyestudio
Blank Shield

Active
Buzzer

Male Pin Headers

Indicator
LED

& 330R
Resistor

2 Pin Battery
Terminal
Connector

Page 2

Pat McMahon V1 17/8/2021

Using permanent markers, draw a red + line on the 7th column from the right and black— on the 8th column, as below. Then match colours and duplicate on the rear.

Using a 40 Pin Female Header, make the following Female Header Pins, by removing the next pins then scoring /snapping to make 1@6, 1@3.

6 Pin Header

Remove 7th Pin

Partially score the gap with pin removed and carefully using a Stanley Knife, Snap and Trim the excess.

Using a 40 Pin Male Header Pin, carefully Snap 1@6, 2@8, 1@10 and insert long leg down into Uno Headers, for alignment for soldering. Also snap 4@3 for mounting on top of the shield.

Insert the Shield onto the short male Pin Headers and solder while it is mounted on the Uno, for alignment.

Using the following photos as a guide, insert the components on the front and solder on the back, as you go. The Terminal, Female Headers, Active Buzzer, Male Headers and Indicator LED. Use the + and— (red & black ) drawn lines as guides for alignment of the parts.

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Pat McMahon V1 17/8/2021

Because of overlapping of coloured wires and placing of Headers on the shield, use these photos as hints only, using the page 4 enlarged Diagram to correctly connect and solder the wires and components. Suggestion – I found it easier to start Soldering the top Terminal wires which are underneath first, followed by the positives (red) then the negatives (black). Then finish by Soldering the top overlapping wires from the left to right.

When looking from the back to the Front of the Hexapod,
Middle Servo on Hexapod—Servo 1—pin D9
Right Servo on Hexapod—Servo 3—pin D10
Left Servo on Hexapod—Servo 2—pin D11

Active Buzzer—pin D12
IR Receiver —pin D2
Front LED’s—pin D3
Back LED’s—pin D4

HC-05 Bluetooth-
TX—pin 0
RX—pin 1

38Kz IR Receiver

HC-05 Bluetooth Module

Power LED Indicator

KEYSTUDIO
Uno Shield

_

B

F

3

2

1

Active Buzzer

Front & Back
LED Wires

Battery Wires

3 Servo Plugs

Battery Supply (7V plus)

Page 4

Pat McMahon V1 17/8/2021

Signal

Servo
Plugs

7V or above, Battery

A5

A4

A3

A2

A11

A0

Vin

Gnd

Gnd

5V

3 Male Servo Pins

Servo 1

CV

Servo 2

Servo 3

Back Front

LED Lights

Buzzer

2Terminal

CV

8

9

10

11

12

13

Gnd

0

1

2

3

4

5

6

7

8

9

10

11

12

13

Gnd

HC-05 Bluetooth

IR Receiver

Indicator LED

Resistor

330 R

Columns

Looking underneath the KEYESTUDIO Shield, Soldering side.
Indicates Soldering is required.
Indicates the position of the parts on the topside.

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Pat McMahon V1 17/8/2021

Pat’s HEXAPOD movement Algorithms

Below are my Algorithms to help explain the Forwards, Backwards, Left and Right movements on my Hexapod. You may need when developing your own sketch code, to vary the pauses and sweep angles of your servos. I used a pause of 100 milliseconds (1/10 second) and a total servo sweep of 30 Degrees, 15 forward of 90 = 105 and 15 back of 90 = 75. My servos had 24 teeth on their splines so 360/24 = 15 degrees of sweep when moving the Horn or Arm one spline, for central alignment or operational purposes.

105

90

75

105

90

75

75

Right

105

Servo 3

Front

Servo 1

HEXAPOD

Servo 2

Left

Back

Note-
Servo 3 moves right outer legs.
Servo 1 moves bottom middle legs.
Servo 2 moves left outer legs.

75

90

105

75

90

105

Note—90 degrees is the central or resting positions of all the servos.
As the mounted upside down Servo 1 turns clockwise at 105 it lifts the right side up, at 75 it lifts the left side up for movement.
As the Horn or Arm on Servo 3 & Servo 2 both turn anticlockwise at 105, the right legs go forward and the left legs go backwards together.
As the Horn or Arm on Servo 3 & Servo 2 both turn clockwise at 75, the right legs go backwards and the left legs go forwards together.

Uses Servos
1,2,3.
Forwards
1-105
pause 100
2-105
3-105
Pause 100
1 –75
Pause 100
2-75
3-75
Pause 100
1-90
2-90
3-90
Pause 100

Uses Servos
1,2,3.
Backwards
1-75
pause 100
2-105
3-105
Pause 100
1 –105
Pause 100
2-75
3-75
Pause 100
1-90
2-90
3-90
Pause 100

Uses Servos
Mainly 1 & 3.
Left
1-105
pause 100
3-105
Pause 100
1 –75
Pause 100
3-75
Pause 100
1-90
2-90
3-90
Pause 100

Uses Servos
Mainly 1 & 2.
Right
1-75
pause 100
2-75
Pause 100
1 –105
Pause 100
2-105
Pause 100
1-90
2-90
3-90
Pause 100

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