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diff --git a/Medical Parts/01 Biomedical/AmboVent ventilator/AmboVent Ventilator.FCStd b/Medical Parts/01 Biomedical/AmboVent ventilator/AmboVent Ventilator.FCStd
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index 00000000..4b41844a
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diff --git a/Medical Parts/01 Biomedical/AmboVent ventilator/LICENSE b/Medical Parts/01 Biomedical/AmboVent ventilator/LICENSE
new file mode 100644
index 00000000..fdddb29a
--- /dev/null
+++ b/Medical Parts/01 Biomedical/AmboVent ventilator/LICENSE
@@ -0,0 +1,24 @@
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+For more information, please refer to <https://unlicense.org>
diff --git a/Medical Parts/01 Biomedical/AmboVent ventilator/README.md b/Medical Parts/01 Biomedical/AmboVent ventilator/README.md
new file mode 100644
index 00000000..a6ef7458
--- /dev/null
+++ b/Medical Parts/01 Biomedical/AmboVent ventilator/README.md
@@ -0,0 +1,104 @@
+# AmboVent 1690.108
+
+ Automatic, Controlled Resuscitator Device
+ Emergency ventilation alternative system
+ Global Partnership for the Greater good
+ Leading Open Source Code Mentality Initiative
+
+## Emergency ventilation initiative coming out of Israel
+
+## The device was not tested yet for its performance or safety; it is NOT approved for clinical use
+
+### Who is behind it?
+**Lead by the CTO & innovation leader of the Israeli Air-Force 108 Electronic Depot and backed by a large community of innovators behind him, to include:**
+
+1. 40 Professional Volunteers
+1. Magen David Adom (Israel’s national EMS)
+1. Physicians from leading Israeli hospitals such as Tel Aviv Sourasky and Hadassah JLM as well as other medical centers, Engineers, FIRST Israel mentors and students
+1. The Haifa Technological Center Rafael
+1. Israel Aerospace Industries
+1. IAF Unit 108
+1. The garage program by Microsoft Israel
+1. IDC Herzeliya
+1. and others...
+
+## Developer Chat on Gitter:
+
+[](https://gitter.im/AmboVent-Ventilator/community?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge)
+
+## [AmboVent Website](https://1nn0v8ter.rocks/AmboVent-1690-108)
+
+## [BOM list](https://docs.google.com/spreadsheets/d/1yqxRhruZpR-hO4cpbX6UkSeXTlXk1JLd_4aYDwuWj4k/edit?usp=sharing)
+
+# AmboVent's Standard Copyright and Disclaimer Notice:
+
+*Copyright ©2020. THE AMBOVENT GROUP FROM ISRAEL herby declares: No Rights Reserved. Anyone in the world have Permission to use, copy, modify, and distribute this software and its documentation for educational, research, for profit, business and not-for-profit purposes, without fee and without a signed licensing agreement, all is hereby granted, provided that the intention of the user is to use this code and documentation to save human lives anywhere in the world. For any question, contact dreliram@gmail.com.*
+
+***IN NO EVENT SHALL THE AMBOVENT GROUP FROM ISRAEL, BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THESE SPECS, LIST OF MATERIALS, ELECTRONIC DESIGNS , SOFTWARE CODE AND ANY DOCUMENTATION, EVEN IF THE AMBOVENT GROUP FROM ISRAEL HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+THE AMBOVENT GROUP FROM ISRAEL DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, SPECS, LIST OF MATERIALS, ELECTRONIC DESIGNS, SOFTWARE CODE AND ANY DOCUMENTATION IF PROVIDED HEREUNDER IS PROVIDED "AS IS". THE AMBOVENT GROUP FROM ISRAEL HAS NO CLAIM THAT IT IS COMPLETED OR FUNCTIONAL AND HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.***
+
+# Setup
+
+## Software
+
+1. (Required to build the code): [Arduino IDE](https://www.arduino.cc/en/Main/Software)
+1. (Optional: recommended to edit the code): Eclipse project for Arduino source code _editing_ (NOT building):
+ 1. A general setup PDF guide can be found in the [eRCaGuy_dotfiles](https://github.com/ElectricRCAircraftGuy/eRCaGuy_dotfiles) project [here](https://github.com/ElectricRCAircraftGuy/eRCaGuy_dotfiles/blob/master/eclipse/Eclipse%20setup%20instructions%20on%20a%20new%20Linux%20(or%20other%20OS)%20computer.pdf). See also:
+ 1. [3-Software/Arduino/readme.md](3-Software/Arduino/readme.md).
+ 1. [3-Software/Arduino/arduino_core/readme.md](3-Software/Arduino/arduino_core/readme.md)
+ 1. [3-Software/Arduino/.clang-format](3-Software/Arduino/.clang-format) - there are some nice descriptions & info in here on Eclipse & Sublime Text 3 editors, as well as setting your Arduino IDE to use 4 spaces instead of 2 for tabs.
+1. (Required to get a pull request accepted which modifies the code): `clang-format` automatic code format tool. Please run this on any PR (GitHub Pull Request) before submitting a PR!
+ 1. Linux (tested--works):
+ 1. Install:
+
+ # Install it:
+ sudo apt update
+ sudo apt install clang-format
+
+ # Ensure you have version 6 (the default for Ubuntu 18), for compatibility with
+ # the .clang-format file we are using; sample output:
+ # `clang-format version 6.0.0-1ubuntu2 (tags/RELEASE_600/final)`
+ clang-format --version
+
+ 1. Use it:
+ 1. Commit your changes so everything is backed up.
+ 1. Then run the clang formatter:
+
+ ./run_clang-format.sh
+
+ 1. Then review and commit these changes, if any.
+ 1. Now do a Pull Request.
+
+ 1. Windows:
+ 1. Install:
+ 1. Download and install [Git for Windows](https://git-scm.com/download/win)
+ 1. Download and install LLVM (which includes `clang-format`) version **6.0.1** (for compatibility--see above) [for Windows, here](https://releases.llvm.org/download.html). Here's a [direct link](https://releases.llvm.org/6.0.1/LLVM-6.0.1-win64.exe) if you like for the 64-bit version.
+ 1. Use it:
+ 1. Using the git bash terminal that comes with git for Windows, run the script:
+
+ ./run_clang-format.sh
+
+ 1. Make sure to do this before making any Pull Request (see Linux "Use it" instructions just above as well).
+
+# Software Changelog
+- Newest on top
+- Follows Semantic Versioning: MAJOR.MINOR.PATCH; see: https://semver.org/ for rules & FAQ.
+- The 6 most common recommended types of changes are (see here: https://keepachangelog.com/en/1.0.0/): Added, Changed, Deprecated, Removed, Fixed, Security
+
+INITIAL DEVELOPMENT PHASE:
+- Use version numbers 0.MINOR.PATCH for the initial development phase; ex: 0.1.0, 0.2.0, etc.
+- Increment just the MINOR version number for each new 0.y.z development phase enhancement, until the project is mature enough that you choose to move to a 1.0.0 release
+- You may increment the PATCH number for bug fixes to your development code, or just increment the MINOR version number if there are also enhancements
+
+MORE MATURE PHASE:
+- As the project matures, release a 1.0.0 version
+- Once you release a 1.0.0 version, do the following (copied from semver.org):
+- Given a version number MAJOR.MINOR.PATCH, increment the:
+1. MAJOR version when you make incompatible API changes,
+2. MINOR version when you add functionality in a backwards compatible manner, and
+3. PATCH version when you make backwards compatible bug fixes.
+
+## [v0.1.0] - 2020-04-22
+- Added: changelog and started tracking a software "version" number via the changelog
+- Fixed: continued incremental improvements of the software formatting and style: ex: moved global variables to their own lines
+
diff --git a/Medical Parts/01 Biomedical/MIT E Vent/MIT e Ventilator.FCStd b/Medical Parts/01 Biomedical/MIT E Vent/MIT e Ventilator.FCStd
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diff --git a/Medical Parts/01 Biomedical/OpenLung/Parts/IgnusNutMount.FCStd b/Medical Parts/01 Biomedical/OpenLung/Parts/IgnusNutMount.FCStd
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diff --git a/Medical Parts/01 Biomedical/OpenLung/Parts/Rib AA.FCStd b/Medical Parts/01 Biomedical/OpenLung/Parts/Rib AA.FCStd
new file mode 100644
index 00000000..8492eec5
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diff --git a/Medical Parts/01 Biomedical/OpenLung/Parts/Rib AB.FCStd b/Medical Parts/01 Biomedical/OpenLung/Parts/Rib AB.FCStd
new file mode 100644
index 00000000..727f6aff
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diff --git a/Medical Parts/01 Biomedical/OpenLung/Parts/Rib presion.FCStd b/Medical Parts/01 Biomedical/OpenLung/Parts/Rib presion.FCStd
new file mode 100644
index 00000000..b7e01560
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diff --git a/Medical Parts/01 Biomedical/OpenLung/README.md b/Medical Parts/01 Biomedical/OpenLung/README.md
new file mode 100644
index 00000000..78dc3ea3
--- /dev/null
+++ b/Medical Parts/01 Biomedical/OpenLung/README.md
@@ -0,0 +1,80 @@
+
+# Disclaimer
+
+*The plans, documents and other materials (“Material”) contained on this website are intended to facilitate the design of a prototype reproducible medical device to be used if required during the Covid-19 pandemic. The Material is not itself a medical device. The Material has not been tested and has not been approved for use in humans or animals by any regulatory authority of any country.*
+
+*By using the Material, you are agreeing to the following disclaimer.*
+
+*OpenLung / Open Source Ventilator offers the Material as-is and as-available, and makes no representations or warranties of any kind whatever concerning the Material, whether express, implied, statutory, or other. This includes, without limitation, warranties of merchantability, fitness for a particular purpose, non-infringement, absence of latent or other defects, accuracy, or the presence or absence of errors, whether or not known or discoverable.*
+
+*To the extent possible, in no event will OpenLung / Open Source Ventilator be liable to you on any legal theory (including, without limitation, negligence) or otherwise for any direct, special, indirect, incidental, consequential, punitive, exemplary, or other losses, costs, expenses, or damages arising out of the Material or use of the Material, even if OpenLung / Open Source Ventilator has been advised of the possibility of such losses, costs, expenses, or damages.*
+
+*Any ventilator system that has not been approved by a competent medical device regulatory authority may not deliver to the user the ability to properly monitor and control tidal volume, inspiratory pressure, inspiratory: expiratory ratio, heart rate, nor provide the user with the ability to monitor and control positive-end expiratory pressure (PEEP), peak inspiratory pressure (PIP) or to adapt to individual patient requirements. Inability to monitor and/or control any of these factors can cause death or serious permanent injury.*
+
+*The disclaimer of warranties and limitation of liability provided above shall be interpreted in a manner that, to the extent possible, most closely approximates an absolute disclaimer and waiver of all liability.*
+
+# Low Resource Bag Valve Mask (BVM) Ventilator
+
+
+
+The OpenLung Emergency Medical Ventilator (OEMV) is a stopgap solution to the global shortage of medical ventilators. Its rapid development is the result of a novel open source paradigm that allows team members to make real-time contributions from any place in the world. DevOps is overseen by a cabal of professionals whom separate the wheat from the chaff and direct the collective effort. The device itself is composed of widely available materials and put together via simple fabrication processes. Electrical components and software have also been developed, these allow basic parameters and controls to be set by clinicians. Physical working prototypes have been built and testing toward a final product is well underway. The OEMV is an open piece of technology that can be manufactured and deployed anywhere in the world.
+
+# Design Requirements
+
+Project Requirements are listed [here](requirements/design-requirements.md).
+
+# Contributing to the project
+
+*OpenLung* as implied by the name has maintained a high degree of openness to new contributors. In fact, we have created a wiki called [Contributing](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Contributing) for this purpose
+
+# Design
+
+The *OpenLung* project has managed to bring together many experts and ideas into a cohesive remote work environment. We believe our processes are unique and efficient for the future of remote group design work. In fact, we have attempted to compile what we have learned in the [Design Wiki](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Design) Additionally there are discipline specific Wikis for [Electronics](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Electronics) and [Mechanical](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Mechanical). Our designs require parameters, suggestions and direction of the medical community, some of those notes are compiled in [Medical Notes](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Medical-Notes)
+
+# Documentation
+
+A major factor in the success of this open source project is having extensive, clear and accessible documentation. Though we here at OpenLung see room for improvements, we would like to share our documentation process including what we have learned, examples we like and methods we use. [Documentation Wiki](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Documentation)
+
+# Fabrication
+
+Despite *OpenLung* not being a manufacturer, this project designs for manufacturability. In fact, we have labored over the consideration of variability in production processes and supply chains. Detailed information regarding fabrication -- as it relates to this project -- is stored on [the 'Fabrication' page](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Fabrication)
+
+# Testing
+
+Evaluating the performance of our designs require extensive testing and data collection.
+Testing is done using specialized equipment that is discussed in further detail within the [Testing Wiki](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Testing)
+
+# Distribution
+
+The logistics of providing designs for decentralized ad-hoc manufacturing operations is interesting and complex. That is why we created a whole [Wiki Page](https://gitlab.com/open-source-ventilator/ventilator/OpenLung/-/wikis/Distribution) dedicated to this
+
+# Project Teams
+| Team | Directory | Issue Label |
+|---|---|---|
+| Requirements | [requirements](/requirements) | ~"Requirements" |
+| Mechanical Concepts | [mechanical-concepts](/mechanical-concepts) | ~"Mechanical Concepts" |
+| Control Electronics | [control-electronics](/control-electronics) | ~"Control Electronics" ~"Controller Software" |
+| Sensor Layout and Specifications | [control-electronics](/control-electronics) | ~"Sensor Hardware" |
+| Housing Concepts | [housing-concepts](/housing-concepts) | ~"Housing Concepts" |
+| Humidifier Concepts | [humidifier-concepts](/humidifier-concepts) | ~"Humidifier Concepts" |
+| BVM Filtration | [bvm-filtration](/bvm-filtration) | ~"BVM Filtration" |
+| Regulatory | [regulatory](/regulatory) | ~"Regulatory" |
+| Testing | [testing](/testing) | ~"Testing" |
+
+
+# This document in other languages:
+| | | Language | Translations | | |
+|---|---|---|---|---|---|
+|[english](README.md) | [català](translations/README-ca.md) | [čeština](translations/README-cz.md)| [deutsch](translations/README-de.md) | [español](translations/README-es.md) | [français](translations/README-fr.md) |
+| [日本語](translations/README-ja.md) | [nederlands](translations/README-nl.md) | [polski](translations/README-pl.md) | [português](translations/README-pt_BR.md) | [Română](translations/README-ro.md) | [Русский](translations/README-ru.md) |
+| [svenska](translations/README-sv.md) | [türkçe](translations/README-tr.md) | [汉语](translations/README-zh-Hans.md) | [漢語](translations/README-zh-Hant.md) |[عربى](translations/README-ar.md)|---|
+
+*Contribute by translating this ReadMe.md file into other languages [here](/translations).*
+
+# Image Licensing
+
+<img src='https://i.creativecommons.org/l/by-sa/4.0/88x31.png'></img>
+
+Except where otherwise noted, image content on this repository is licenced under a [Creative Commons Attribution-ShareAlike 4.0 International License](https://creativecommons.org/licenses/by-sa/4.0/).
+
+*Repository managed by [OpenLung](https://openlung.org/) and [OS Ventilator Ireland](https://opensourceventilator.ie/) Communities*
diff --git a/Medical Parts/01 Biomedical/OpenLung/faltantes.jpg b/Medical Parts/01 Biomedical/OpenLung/faltantes.jpg
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomLayer.GBL b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomLayer.GBL
new file mode 100644
index 00000000..9d627087
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomLayer.GBL
@@ -0,0 +1,6991 @@
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSilkLayer.GBO b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSilkLayer.GBO
new file mode 100644
index 00000000..912edcc4
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSilkLayer.GBO
@@ -0,0 +1,8302 @@
+G04 ---------------------------- Layer name :BOTTOM SILK LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSolderMaskLayer.GBS b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSolderMaskLayer.GBS
new file mode 100644
index 00000000..763e7521
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_BottomSolderMaskLayer.GBS
@@ -0,0 +1,141 @@
+G04 ---------------------------- Layer name :BOTTOM SOLDER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopLayer.GTL b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopLayer.GTL
new file mode 100644
index 00000000..1e0c3fe6
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopLayer.GTL
@@ -0,0 +1,7680 @@
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopPasteMaskLayer.GTP b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopPasteMaskLayer.GTP
new file mode 100644
index 00000000..1891874a
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopPasteMaskLayer.GTP
@@ -0,0 +1,24 @@
+G04 ---------------------------- Layer name :TOP PASTER LAYER*
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSilkLayer.GTO b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSilkLayer.GTO
new file mode 100644
index 00000000..f1315df1
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSilkLayer.GTO
@@ -0,0 +1,9228 @@
+G04 ---------------------------- Layer name :TOP SILK LAYER*
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+
+%LPD*%
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSolderMaskLayer.GTS b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSolderMaskLayer.GTS
new file mode 100644
index 00000000..18dcd858
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_TopSolderMaskLayer.GTS
@@ -0,0 +1,149 @@
+G04 ---------------------------- Layer name :TOP SOLDER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
+G04 Scale: 100 percent, Rotated: No, Reflected: No *
+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
+%FSLAX33Y33*%
+%MOMM*%
+G90*
+G71D02*
+
+%ADD13R,1.363218X1.673098*%
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+%ADD19C,1.503197*%
+
+%LPD*%
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diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_NPTH.DRL b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_NPTH.DRL
new file mode 100644
index 00000000..b3cb2e95
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_NPTH.DRL
@@ -0,0 +1,14 @@
+;NPTH Drill file created by EasyEDA
+M48
+METRIC,LZ,000.000
+;Holesize 1 = 3.000 METRIC
+T01C3.000
+%
+G05
+G90
+T01
+X017272Y069342
+X096520Y013208
+X004826Y011176
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+M30
diff --git a/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_PTH.DRL b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_PTH.DRL
new file mode 100644
index 00000000..7a417186
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/03 Board/Gerber_drill_PTH.DRL
@@ -0,0 +1,119 @@
+;PTH Drill file created by EasyEDA
+M48
+METRIC,LZ,000.000
+;Holesize 1 = 0.306 METRIC
+T01C0.306
+;Holesize 2 = 0.701 METRIC
+T02C0.701
+;Holesize 3 = 0.889 METRIC
+T03C0.889
+;Holesize 4 = 0.915 METRIC
+T04C0.915
+;Holesize 5 = 1.701 METRIC
+T05C1.701
+%
+G05
+G90
+T01
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diff --git a/Robots/Quadruped robot/Spider robot/04 Arduino/legs_init/legs_init.ino b/Robots/Quadruped robot/Spider robot/04 Arduino/legs_init/legs_init.ino
new file mode 100644
index 00000000..5ad35dc9
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/04 Arduino/legs_init/legs_init.ino
@@ -0,0 +1,29 @@
+// Locate the initial position of legs
+// RegisHsu 2015-09-09
+
+#include <Servo.h>
+
+Servo servo[4][3];
+
+//define servos' ports
+const int servo_pin[4][3] = { {2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13} };
+
+void setup()
+{
+ //initialize all servos
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 3; j++)
+ {
+ servo[i][j].attach(servo_pin[i][j]);
+ delay(100);
+ }
+ }
+ while (1);
+}
+
+void loop(void)
+{
+
+}
+
diff --git a/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/Spider_SP8.ino b/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/Spider_SP8.ino
new file mode 100644
index 00000000..b49d8c6e
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/Spider_SP8.ino
@@ -0,0 +1,336 @@
+
+// SP-8 quadruped robot - 27/03/2019
+// Copyleft - Roberto Hamm - roberto-hamm@sfr.fr
+// http://robotix.ah-oui.org
+
+#include <Servo.h>
+#include <IRremote.h>
+
+// codes IR remote control
+#define cod_0 0x40BF
+#define cod_1 0xC03F
+#define cod_2 0xE01F
+#define cod_3 0x807F
+#define cod_4 0xD827
+#define cod_5 0x20DF
+
+int IR_signal = A0;
+IRrecv irrecv(IR_signal);
+decode_results results;
+
+// servo codes
+Servo servo_footA;
+Servo servo_armA;
+Servo servo_footB;
+Servo servo_armB;
+Servo servo_footC;
+Servo servo_armC;
+Servo servo_footD;
+Servo servo_armD;
+
+int srv_footA = 11; // foot
+int srv_armA = 10; // arm
+int srv_footB = 9; // foot
+int srv_armB = 8; // arm
+int srv_footC = 7; // foot
+int srv_armC = 6; // arm
+int srv_footD = 5; // foot
+int srv_armD = 4; // arm
+int del = 1500;
+
+int Fdw=60;
+int Fup=80;
+int Abw=70;
+int Afw=110;
+int spd=5;
+
+int p13 =13;
+
+void setup() {
+ Serial.begin(9600);
+ Serial.println("Spider-S8 : version-190418 - CASE");
+// remote control
+ pinMode(IR_signal, INPUT);
+ irrecv.enableIRIn();
+// servo
+ servo_footA.attach(srv_footA);
+ servo_armA.attach(srv_armA);
+ servo_footB.attach(srv_footB);
+ servo_armB.attach(srv_armB);
+ servo_footC.attach(srv_footC);
+ servo_armC.attach(srv_armC);
+ servo_footD.attach(srv_footD);
+ servo_armD.attach(srv_armD);
+
+stall(); delay(1000);
+pinMode(p13, OUTPUT);
+}
+
+
+void loop() {
+
+if (irrecv.decode(&results)) {
+unsigned int value = results.value;
+Serial.println(value, HEX);
+
+switch(value){
+
+
+
+case cod_1:
+digitalWrite(p13,HIGH);
+ROUND();
+digitalWrite(p13,LOW);
+break;
+
+case cod_2:
+digitalWrite(p13,HIGH);
+WALK();
+digitalWrite(p13,LOW);
+break;
+
+case cod_3:
+BLINK();
+for(int i = 0; i < 7; i++){WALK();}
+stall();
+flat_up();
+delay(1000);
+flat_dw();
+delay(1000);
+for(int i = 0; i < 7; i++){ROUND();}
+delay(500);
+stall();
+break;
+
+case cod_4:
+flat_up();
+break;
+
+case cod_5:
+flat_dw();
+flat_up();
+break;
+
+case cod_0:
+stall();
+digitalWrite(p13,LOW);
+break;
+
+} // switch
+irrecv.resume();
+}}
+
+///////// grouped movements ////////////////
+
+void WALK(){
+go_ahead();
+Afoup(); armAfw(); Afodw();
+Cfoup(); armCbw(); Cfodw();
+Bfoup(); armBbw(); Bfodw();
+Dfoup(); armDfw(); Dfodw();
+}
+
+void ROUND(){
+armAfw();
+armBfw();
+armCfw();
+armDfw();
+Afoup(); armAbw(); Afodw();
+Bfoup(); armBbw(); Bfodw();
+Cfoup(); armCbw(); Cfodw();
+Dfoup(); armDbw(); Dfodw();
+}
+
+///////// foot up-down
+
+void Afoup(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=min; i<=max; i++) {
+ servo_footA.write(i);
+ delay(spd);}}
+
+void Bfoup(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=min; i<=max; i++) {
+ servo_footB.write(i);
+ delay(spd);}}
+
+void Cfoup(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=min; i<=max; i++) {
+ servo_footC.write(i);
+ delay(spd);}}
+
+void Dfoup(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=min; i<=max; i++) {
+ servo_footD.write(i);
+ delay(spd);}}
+
+void Afodw(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=max; i>=min; i--) {
+ servo_footA.write(i);
+ delay(spd);}}
+
+void Bfodw(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=max; i>=min; i--) {
+ servo_footB.write(i);
+ delay(spd);}}
+
+void Cfodw(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=max; i>=min; i--) {
+ servo_footC.write(i);
+ delay(spd);}}
+
+void Dfodw(){
+int max=Fup+5;
+int min=Fdw+5;
+ for(int i=max; i>=min; i--) {
+ servo_footD.write(i);
+ delay(spd);}}
+
+///////////// basic mvmnts ///////////////
+
+void go_ahead(){
+spd=5;
+ for(int i=Afw; i>=Abw; i--) {
+ servo_armA.write(i);
+ servo_armD.write(i);
+int y = Abw+Afw-i;
+ servo_armC.write(y);
+ servo_armB.write(y);
+ delay(spd);}}
+
+void flat_up(){
+int max=Fup+5;
+int min=Fdw+5;
+ servo_footA.write(min);
+ servo_footB.write(min);
+ servo_footC.write(min);
+ servo_footD.write(min);
+ delay(500);
+ for(int i=min; i<=max+50; i++) {
+ servo_footA.write(i);
+ servo_footB.write(i);
+ servo_footC.write(i);
+ servo_footD.write(i);
+ delay(spd);}
+ delay(500);
+}
+
+void flat_dw(){
+int max=Fup+5;
+int min=Fdw+5;
+ servo_footA.write(max);
+ servo_footB.write(max);
+ servo_footC.write(max);
+ servo_footD.write(max);
+ delay(500);
+ for(int i=max; i>=min; i--) {
+ servo_footA.write(i);
+ servo_footB.write(i);
+ servo_footC.write(i);
+ servo_footD.write(i);
+ delay(spd);}
+ delay(500);
+}
+
+///////////////////////////
+
+// single arm mvt A
+void armAfw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=min; i<=max; i++) {
+ servo_armA.write(i);
+ delay(spd);
+}}
+
+void armAbw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=max; i>=min; i--) {
+ servo_armA.write(i);
+ delay(spd);
+}}
+
+// single arm mvt B
+void armBfw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=min; i<=max; i++) {
+ servo_armB.write(i);
+ delay(spd);
+}}
+
+void armBbw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=max; i>=min; i--) {
+ servo_armB.write(i);
+ delay(spd);
+}}
+
+// single arm mvt C
+void armCfw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=min; i<=max; i++) {
+ servo_armC.write(i);
+ delay(spd);
+}}
+
+void armCbw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=max; i>=min; i--) {
+ servo_armC.write(i);
+ delay(spd);
+}}
+
+// single arm mvt D
+void armDfw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=min; i<=max; i++) {
+ servo_armD.write(i);
+ delay(spd);
+}}
+
+void armDbw(){
+int min=Abw+0;
+int max=Afw+0;
+ for(int i=max; i>=min; i--) {
+ servo_armD.write(i);
+ delay(spd);
+}}
+
+
+void stall(){
+BLINK();
+servo_armA.write(90);servo_footA.write(60);
+servo_armB.write(90);servo_footB.write(60);
+servo_armC.write(90);servo_footC.write(60);
+servo_armD.write(90);servo_footD.write(60);
+digitalWrite(p13,HIGH);
+}
+
+void BLINK(){
+for(int i=0; i<3; i++){
+digitalWrite(p13,HIGH);
+delay(100);
+digitalWrite(p13,LOW);
+delay(100); }
+}
+
+
diff --git a/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/spider_robot.ino b/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/spider_robot.ino
new file mode 100644
index 00000000..7abba4ec
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/04 Arduino/spider_robot/spider_robot.ino
@@ -0,0 +1,1042 @@
+/* -----------------------------------------------------------------------------
+ - Project: Remote control Crawling robot
+ - Author: panerqiang@sunfounder.com
+ - Date: 2015/1/27
+ -----------------------------------------------------------------------------
+ - Overview
+ - This project was written for the Crawling robot desigened by Sunfounder.
+ This version of the robot has 4 legs, and each leg is driven by 3 servos.
+ This robot is driven by a Ardunio Nano Board with an expansion Board.
+ We recommend that you view the product documentation before using.
+ - Request
+ - This project requires some library files, which you can find in the head of
+ this file. Make sure you have installed these files.
+ - How to
+ - Before use,you must to adjust the robot,in order to make it more accurate.
+ - Adjustment operation
+ 1.uncomment ADJUST, make and run
+ 2.comment ADJUST, uncomment VERIFY
+ 3.measure real sites and set to real_site[4][3], make and run
+ 4.comment VERIFY, make and run
+ The document describes in detail how to operate.
+ ---------------------------------------------------------------------------*/
+
+// modified by Regis for spider project, 2015-09-26
+// add remote control by HC-06 bluetooth module
+
+// modified by Anuchit for spider project, 2015-11-28
+// add remote control with android app for bluetooth spp
+// add test robot function for command mode
+// add sonar to measure distance between robot and obstacle
+// add free walk mode use ultrasonic to avoid obstacle like vaccuum robot
+
+
+/* Includes ------------------------------------------------------------------*/
+#include <Servo.h> //to define and control servos
+#include <FlexiTimer2.h>//to set a timer to manage all servos
+// RegisHsu, remote control
+#include <SerialCommand.h>
+SerialCommand SCmd; // The demo SerialCommand object
+// Anuchit, ultrasonic
+#include <NewPing.h>
+
+/* Servos --------------------------------------------------------------------*/
+//define 12 servos for 4 legs
+Servo servo[4][3];
+//define servos' ports
+const int servo_pin[4][3] = { {2, 3, 4}, {5, 6, 7}, {8, 9, 10}, {11, 12, 13} };
+/* Size of the robot ---------------------------------------------------------*/
+const float length_a = 55;
+const float length_b = 77.5;
+const float length_c = 27.5;
+const float length_side = 71;
+const float z_absolute = -28;
+/* Constants for movement ----------------------------------------------------*/
+const float z_default = -50, z_up = -30, z_boot = z_absolute;
+const float x_default = 62, x_offset = 0;
+const float y_start = 0, y_step = 40;
+const float y_default = x_default;
+/* variables for movement ----------------------------------------------------*/
+volatile float site_now[4][3]; //real-time coordinates of the end of each leg
+volatile float site_expect[4][3]; //expected coordinates of the end of each leg
+float temp_speed[4][3]; //each axis' speed, needs to be recalculated before each movement
+float move_speed; //movement speed
+float speed_multiple = 1; //movement speed multiple
+const float spot_turn_speed = 4;
+const float leg_move_speed = 8;
+const float body_move_speed = 3;
+const float stand_seat_speed = 1;
+volatile int rest_counter; //+1/0.02s, for automatic rest
+//functions' parameter
+const float KEEP = 255;
+//define PI for calculation
+const float pi = 3.1415926;
+/* Constants for turn --------------------------------------------------------*/
+//temp length
+const float temp_a = sqrt(pow(2 * x_default + length_side, 2) + pow(y_step, 2));
+const float temp_b = 2 * (y_start + y_step) + length_side;
+const float temp_c = sqrt(pow(2 * x_default + length_side, 2) + pow(2 * y_start + y_step + length_side, 2));
+const float temp_alpha = acos((pow(temp_a, 2) + pow(temp_b, 2) - pow(temp_c, 2)) / 2 / temp_a / temp_b);
+//site for turn
+const float turn_x1 = (temp_a - length_side) / 2;
+const float turn_y1 = y_start + y_step / 2;
+const float turn_x0 = turn_x1 - temp_b * cos(temp_alpha);
+const float turn_y0 = temp_b * sin(temp_alpha) - turn_y1 - length_side;
+
+/* Constants for Ultasonic------------------------------------------------------------- */
+#define TRIGGER_PIN A1
+#define ECHO_PIN A2
+#define MAX_DISTANCE 200
+boolean sonar_mode=false;
+boolean freewalk_mode=false;
+unsigned int avoid_dist=25;
+NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
+/* ---------------------------------------------------------------------------*/
+
+/*
+ - setup function
+ ---------------------------------------------------------------------------*/
+void setup()
+{
+ //start serial for debug
+ Serial.begin(9600);
+ Serial.println("Robot starts initialization");
+
+ // RegisHsu, remote control
+ // Setup callbacks for SerialCommand commands
+ // action command 0-6,
+ // w 0 1: stand
+ // w 0 0: sit
+ // w 1 x: forward x step
+ // w 2 x: back x step
+ // w 3 x: right turn x step
+ // w 4 x: left turn x step
+ // w 5 x: hand shake x times
+ // w 6 x: hand wave x times
+ // Anuchit
+ // w 7 0: sonar_mode
+ // w 8 0: freewalk mode
+ // w 9 0: leg init
+ SCmd.addCommand("w", action_cmd);
+
+ SCmd.setDefaultHandler(unrecognized);
+
+ //initialize default parameter
+ set_site(0, x_default - x_offset, y_start + y_step, z_boot);
+ set_site(1, x_default - x_offset, y_start + y_step, z_boot);
+ set_site(2, x_default + x_offset, y_start, z_boot);
+ set_site(3, x_default + x_offset, y_start, z_boot);
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 3; j++)
+ {
+ site_now[i][j] = site_expect[i][j];
+ }
+ }
+ //start servo service
+ FlexiTimer2::set(20, servo_service);
+ FlexiTimer2::start();
+ Serial.println("Servo service started");
+ //initialize servos
+ servo_attach();
+ Serial.println("Servos initialized");
+ Serial.println("Robot initialization Complete");
+
+ pinMode(TRIGGER_PIN, OUTPUT); // Sets the trigPin as an Output
+ pinMode(ECHO_PIN, INPUT); // Sets the echoPin as an Input
+}
+
+
+void servo_attach(void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 3; j++)
+ {
+ servo[i][j].attach(servo_pin[i][j]);
+ delay(100);
+ }
+ }
+}
+
+void servo_detach(void)
+{
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 3; j++)
+ {
+ servo[i][j].detach();
+ delay(100);
+ }
+ }
+}
+/*
+ - loop function
+ ---------------------------------------------------------------------------*/
+void loop()
+{
+ SCmd.readSerial();
+ if (freewalk_mode==true){
+ // free walk
+ freewalk(avoid_dist);
+ } else if (sonar_mode==true) {
+ // sonar mode with manual control
+ check_obstacle(avoid_dist);
+ }
+}
+
+void check_obstacle(unsigned int dist) {
+ unsigned int ping_range;
+ delay(50);
+ Serial.print("Ping: ");
+ Serial.print(sonar.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)
+ Serial.println("cm");
+ ping_range=sonar.ping_cm();
+ if ((ping_range<dist) and (ping_range!=0)) {
+ // stand
+ Serial.println("Wake up");
+ stand();
+ // wave
+ Serial.println("Shake");
+ hand_shake(2);
+ // turn
+ //Serial.println("Turn");
+ //turn_left(5);
+ // sit
+ Serial.println("Sit");
+ sit();
+ }
+}
+
+
+void do_test(void)
+{
+ Serial.println("Stand");
+ stand();
+ delay(2000);
+ Serial.println("Step forward");
+ step_forward(5);
+ delay(2000);
+ Serial.println("Step back");
+ step_back(5);
+ delay(2000);
+ Serial.println("Turn left");
+ turn_left(5);
+ delay(2000);
+ Serial.println("Turn right");
+ turn_right(5);
+ delay(2000);
+ Serial.println("Hand wave");
+ hand_wave(3);
+ delay(2000);
+ Serial.println("Hand shake");
+ hand_shake(3);
+ delay(2000);
+ Serial.println("Body dance");
+ body_dance(10);
+ delay(2000);
+ Serial.println("Sit");
+ sit();
+ delay(5000);
+}
+
+// RegisHsu
+// w 0 1: stand
+// w 0 0: sit
+// w 1 x: forward x step
+// w 2 x: back x step
+// w 3 x: right turn x step
+// w 4 x: left turn x step
+// w 5 x: hand shake x times
+// w 6 x: hand wave x times
+// Anuchit
+// w 7 0: sonar_mode
+// w 8 0: freewalk mode
+// w 9 0: leg init
+#define W_STAND_SIT 0
+#define W_FORWARD 1
+#define W_BACKWARD 2
+#define W_LEFT 3
+#define W_RIGHT 4
+#define W_SHAKE 5
+#define W_WAVE 6
+#define W_SONAR 7
+#define W_FREEWALK 8
+#define W_LEG_INIT 9
+void action_cmd(void)
+{
+ char *arg;
+ int action_mode, n_step;
+ Serial.println("Action:");
+ arg = SCmd.next();
+ action_mode = atoi(arg);
+ arg = SCmd.next();
+ n_step = atoi(arg);
+
+ switch (action_mode)
+ {
+ case W_FORWARD:
+ Serial.println("Step forward");
+ if (!is_stand())
+ stand();
+ step_forward(n_step);
+ break;
+ case W_BACKWARD:
+ Serial.println("Step back");
+ if (!is_stand())
+ stand();
+ step_back(n_step);
+ break;
+ case W_LEFT:
+ Serial.println("Turn left");
+ if (!is_stand())
+ stand();
+ turn_left(n_step);
+ break;
+ case W_RIGHT:
+ Serial.println("Turn right");
+ if (!is_stand())
+ stand();
+ turn_right(n_step);
+ break;
+ case W_STAND_SIT:
+ Serial.println("1:up,0:dn");
+ if (n_step)
+ stand();
+ else
+ sit();
+ break;
+ case W_SHAKE:
+ Serial.println("Hand shake");
+ hand_shake(n_step);
+ break;
+ case W_WAVE:
+ Serial.println("Hand wave");
+ hand_wave(n_step);
+ break;
+ case W_LEG_INIT:
+ Serial.println("Legs init");
+ legs_init();
+ break;
+ case W_SONAR:
+ Serial.println("Sonar mode");
+ if (n_step>0)
+ avoid_dist=n_step;
+ do_sonar();
+ break;
+ case W_FREEWALK:
+ Serial.println("Freewalk mode");
+ if (n_step>0)
+ avoid_dist=n_step;
+ do_freewalk();
+ break;
+ default:
+ Serial.println("Error");
+ break;
+ }
+}
+
+// This gets set as the default handler, and gets called when no other command matches.
+void unrecognized(const char *command) {
+ Serial.println("What?");
+}
+
+void freewalk(unsigned int dist) {
+ unsigned int ping_range;
+ ping_range=sonar.ping_cm();
+ // turn before 20cm
+ if ((ping_range<=dist) and (ping_range!=0)) {
+ // turn
+ Serial.println("Turn Left");
+ turn_left(5);
+ } else {
+ if (!is_stand())
+ stand();
+ Serial.println("Step forward");
+ step_forward(2);
+ }
+}
+
+/*
+ * - freewalk mode
+ */
+void do_freewalk(void) {
+ if (freewalk_mode==false) {
+ Serial.println("FreeWalk ON");
+ freewalk_mode=true;
+ } else {
+ Serial.println("FreeWalk OFF");
+ freewalk_mode=false;
+ }
+}
+
+/*
+ * - sonar mode
+ */
+void do_sonar(void){
+ if (sonar_mode==false) {
+ Serial.println("Sonar ON");
+ sonar_mode=true;
+ } else {
+ Serial.println("Sonar OFF");
+ sonar_mode=false;
+ }
+}
+
+
+/*
+ * - legs init
+ */
+
+void legs_init(void){
+
+ //initialize all servos
+ move_speed = 8;
+ for (int leg = 0; leg < 4; leg++)
+ {
+ set_site(leg, KEEP, 0, 90);
+ }
+ wait_all_reach();
+}
+
+/*
+ - is_stand
+ ---------------------------------------------------------------------------*/
+bool is_stand(void)
+{
+ if (site_now[0][2] == z_default)
+ return true;
+ else
+ return false;
+}
+
+/*
+ - sit
+ - blocking function
+ ---------------------------------------------------------------------------*/
+void sit(void)
+{
+ move_speed = stand_seat_speed;
+ for (int leg = 0; leg < 4; leg++)
+ {
+ set_site(leg, KEEP, KEEP, z_boot);
+ }
+ wait_all_reach();
+}
+
+/*
+ - stand
+ - blocking function
+ ---------------------------------------------------------------------------*/
+void stand(void)
+{
+ move_speed = stand_seat_speed;
+ for (int leg = 0; leg < 4; leg++)
+ {
+ set_site(leg, KEEP, KEEP, z_default);
+ }
+ wait_all_reach();
+}
+
+
+/*
+ - spot turn to left
+ - blocking function
+ - parameter step steps wanted to turn
+ ---------------------------------------------------------------------------*/
+void turn_left(unsigned int step)
+{
+ move_speed = spot_turn_speed;
+ while (step-- > 0)
+ {
+ if (site_now[3][1] == y_start)
+ {
+ //leg 3&1 move
+ set_site(3, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+
+ set_site(0, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(1, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(2, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(3, turn_x0 + x_offset, turn_y0, z_up);
+ wait_all_reach();
+
+ set_site(3, turn_x0 + x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(1, turn_x0 + x_offset, turn_y0, z_default);
+ set_site(2, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(3, turn_x0 - x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(1, turn_x0 + x_offset, turn_y0, z_up);
+ wait_all_reach();
+
+ set_site(0, x_default + x_offset, y_start, z_default);
+ set_site(1, x_default + x_offset, y_start, z_up);
+ set_site(2, x_default - x_offset, y_start + y_step, z_default);
+ set_site(3, x_default - x_offset, y_start + y_step, z_default);
+ wait_all_reach();
+
+ set_site(1, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ else
+ {
+ //leg 0&2 move
+ set_site(0, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+
+ set_site(0, turn_x0 + x_offset, turn_y0, z_up);
+ set_site(1, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(2, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(3, turn_x1 - x_offset, turn_y1, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x0 + x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(1, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(2, turn_x0 + x_offset, turn_y0, z_default);
+ set_site(3, turn_x1 + x_offset, turn_y1, z_default);
+ wait_all_reach();
+
+ set_site(2, turn_x0 + x_offset, turn_y0, z_up);
+ wait_all_reach();
+
+ set_site(0, x_default - x_offset, y_start + y_step, z_default);
+ set_site(1, x_default - x_offset, y_start + y_step, z_default);
+ set_site(2, x_default + x_offset, y_start, z_up);
+ set_site(3, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+
+ set_site(2, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ }
+}
+
+/*
+ - spot turn to right
+ - blocking function
+ - parameter step steps wanted to turn
+ ---------------------------------------------------------------------------*/
+void turn_right(unsigned int step)
+{
+ move_speed = spot_turn_speed;
+ while (step-- > 0)
+ {
+ if (site_now[2][1] == y_start)
+ {
+ //leg 2&0 move
+ set_site(2, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+
+ set_site(0, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(1, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(2, turn_x0 + x_offset, turn_y0, z_up);
+ set_site(3, turn_x1 + x_offset, turn_y1, z_default);
+ wait_all_reach();
+
+ set_site(2, turn_x0 + x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x0 + x_offset, turn_y0, z_default);
+ set_site(1, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(2, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(3, turn_x1 - x_offset, turn_y1, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x0 + x_offset, turn_y0, z_up);
+ wait_all_reach();
+
+ set_site(0, x_default + x_offset, y_start, z_up);
+ set_site(1, x_default + x_offset, y_start, z_default);
+ set_site(2, x_default - x_offset, y_start + y_step, z_default);
+ set_site(3, x_default - x_offset, y_start + y_step, z_default);
+ wait_all_reach();
+
+ set_site(0, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ else
+ {
+ //leg 1&3 move
+ set_site(1, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+
+ set_site(0, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(1, turn_x0 + x_offset, turn_y0, z_up);
+ set_site(2, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(3, turn_x0 - x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(1, turn_x0 + x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(0, turn_x1 - x_offset, turn_y1, z_default);
+ set_site(1, turn_x0 - x_offset, turn_y0, z_default);
+ set_site(2, turn_x1 + x_offset, turn_y1, z_default);
+ set_site(3, turn_x0 + x_offset, turn_y0, z_default);
+ wait_all_reach();
+
+ set_site(3, turn_x0 + x_offset, turn_y0, z_up);
+ wait_all_reach();
+
+ set_site(0, x_default - x_offset, y_start + y_step, z_default);
+ set_site(1, x_default - x_offset, y_start + y_step, z_default);
+ set_site(2, x_default + x_offset, y_start, z_default);
+ set_site(3, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+
+ set_site(3, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ }
+}
+
+/*
+ - go forward
+ - blocking function
+ - parameter step steps wanted to go
+ ---------------------------------------------------------------------------*/
+void step_forward(unsigned int step)
+{
+ move_speed = leg_move_speed;
+ while (step-- > 0)
+ {
+ if (site_now[2][1] == y_start)
+ {
+ //leg 2&1 move
+ set_site(2, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default);
+ wait_all_reach();
+
+ move_speed = body_move_speed;
+
+ set_site(0, x_default + x_offset, y_start, z_default);
+ set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default);
+ set_site(2, x_default - x_offset, y_start + y_step, z_default);
+ set_site(3, x_default - x_offset, y_start + y_step, z_default);
+ wait_all_reach();
+
+ move_speed = leg_move_speed;
+
+ set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(1, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(1, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ else
+ {
+ //leg 0&3 move
+ set_site(0, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default);
+ wait_all_reach();
+
+ move_speed = body_move_speed;
+
+ set_site(0, x_default - x_offset, y_start + y_step, z_default);
+ set_site(1, x_default - x_offset, y_start + y_step, z_default);
+ set_site(2, x_default + x_offset, y_start, z_default);
+ set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default);
+ wait_all_reach();
+
+ move_speed = leg_move_speed;
+
+ set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(3, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(3, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ }
+}
+
+/*
+ - go back
+ - blocking function
+ - parameter step steps wanted to go
+ ---------------------------------------------------------------------------*/
+void step_back(unsigned int step)
+{
+ move_speed = leg_move_speed;
+ while (step-- > 0)
+ {
+ if (site_now[3][1] == y_start)
+ {
+ //leg 3&0 move
+ set_site(3, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(3, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(3, x_default + x_offset, y_start + 2 * y_step, z_default);
+ wait_all_reach();
+
+ move_speed = body_move_speed;
+
+ set_site(0, x_default + x_offset, y_start + 2 * y_step, z_default);
+ set_site(1, x_default + x_offset, y_start, z_default);
+ set_site(2, x_default - x_offset, y_start + y_step, z_default);
+ set_site(3, x_default - x_offset, y_start + y_step, z_default);
+ wait_all_reach();
+
+ move_speed = leg_move_speed;
+
+ set_site(0, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(0, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(0, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ else
+ {
+ //leg 1&2 move
+ set_site(1, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(1, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(1, x_default + x_offset, y_start + 2 * y_step, z_default);
+ wait_all_reach();
+
+ move_speed = body_move_speed;
+
+ set_site(0, x_default - x_offset, y_start + y_step, z_default);
+ set_site(1, x_default - x_offset, y_start + y_step, z_default);
+ set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default);
+ set_site(3, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+
+ move_speed = leg_move_speed;
+
+ set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up);
+ wait_all_reach();
+ set_site(2, x_default + x_offset, y_start, z_up);
+ wait_all_reach();
+ set_site(2, x_default + x_offset, y_start, z_default);
+ wait_all_reach();
+ }
+ }
+}
+
+// add by RegisHsu
+
+void body_left(int i)
+{
+ set_site(0, site_now[0][0] + i, KEEP, KEEP);
+ set_site(1, site_now[1][0] + i, KEEP, KEEP);
+ set_site(2, site_now[2][0] - i, KEEP, KEEP);
+ set_site(3, site_now[3][0] - i, KEEP, KEEP);
+ wait_all_reach();
+}
+
+void body_right(int i)
+{
+ set_site(0, site_now[0][0] - i, KEEP, KEEP);
+ set_site(1, site_now[1][0] - i, KEEP, KEEP);
+ set_site(2, site_now[2][0] + i, KEEP, KEEP);
+ set_site(3, site_now[3][0] + i, KEEP, KEEP);
+ wait_all_reach();
+}
+
+void hand_wave(int i)
+{
+ float x_tmp;
+ float y_tmp;
+ float z_tmp;
+ move_speed = 1;
+ if (site_now[3][1] == y_start)
+ {
+ body_right(15);
+ x_tmp = site_now[2][0];
+ y_tmp = site_now[2][1];
+ z_tmp = site_now[2][2];
+ move_speed = body_move_speed;
+ for (int j = 0; j < i; j++)
+ {
+ set_site(2, turn_x1, turn_y1, 50);
+ wait_all_reach();
+ set_site(2, turn_x0, turn_y0, 50);
+ wait_all_reach();
+ }
+ set_site(2, x_tmp, y_tmp, z_tmp);
+ wait_all_reach();
+ move_speed = 1;
+ body_left(15);
+ }
+ else
+ {
+ body_left(15);
+ x_tmp = site_now[0][0];
+ y_tmp = site_now[0][1];
+ z_tmp = site_now[0][2];
+ move_speed = body_move_speed;
+ for (int j = 0; j < i; j++)
+ {
+ set_site(0, turn_x1, turn_y1, 50);
+ wait_all_reach();
+ set_site(0, turn_x0, turn_y0, 50);
+ wait_all_reach();
+ }
+ set_site(0, x_tmp, y_tmp, z_tmp);
+ wait_all_reach();
+ move_speed = 1;
+ body_right(15);
+ }
+}
+
+void hand_shake(int i)
+{
+ float x_tmp;
+ float y_tmp;
+ float z_tmp;
+ move_speed = 1;
+ if (site_now[3][1] == y_start)
+ {
+ body_right(15);
+ x_tmp = site_now[2][0];
+ y_tmp = site_now[2][1];
+ z_tmp = site_now[2][2];
+ move_speed = body_move_speed;
+ for (int j = 0; j < i; j++)
+ {
+ set_site(2, x_default - 30, y_start + 2 * y_step, 55);
+ wait_all_reach();
+ set_site(2, x_default - 30, y_start + 2 * y_step, 10);
+ wait_all_reach();
+ }
+ set_site(2, x_tmp, y_tmp, z_tmp);
+ wait_all_reach();
+ move_speed = 1;
+ body_left(15);
+ }
+ else
+ {
+ body_left(15);
+ x_tmp = site_now[0][0];
+ y_tmp = site_now[0][1];
+ z_tmp = site_now[0][2];
+ move_speed = body_move_speed;
+ for (int j = 0; j < i; j++)
+ {
+ set_site(0, x_default - 30, y_start + 2 * y_step, 55);
+ wait_all_reach();
+ set_site(0, x_default - 30, y_start + 2 * y_step, 10);
+ wait_all_reach();
+ }
+ set_site(0, x_tmp, y_tmp, z_tmp);
+ wait_all_reach();
+ move_speed = 1;
+ body_right(15);
+ }
+}
+
+void head_up(int i)
+{
+ set_site(0, KEEP, KEEP, site_now[0][2] - i);
+ set_site(1, KEEP, KEEP, site_now[1][2] + i);
+ set_site(2, KEEP, KEEP, site_now[2][2] - i);
+ set_site(3, KEEP, KEEP, site_now[3][2] + i);
+ wait_all_reach();
+}
+
+void head_down(int i)
+{
+ set_site(0, KEEP, KEEP, site_now[0][2] + i);
+ set_site(1, KEEP, KEEP, site_now[1][2] - i);
+ set_site(2, KEEP, KEEP, site_now[2][2] + i);
+ set_site(3, KEEP, KEEP, site_now[3][2] - i);
+ wait_all_reach();
+}
+
+void body_dance(int i)
+{
+ float x_tmp;
+ float y_tmp;
+ float z_tmp;
+ float body_dance_speed = 2;
+ sit();
+ move_speed = 1;
+ set_site(0, x_default, y_default, KEEP);
+ set_site(1, x_default, y_default, KEEP);
+ set_site(2, x_default, y_default, KEEP);
+ set_site(3, x_default, y_default, KEEP);
+ wait_all_reach();
+ //stand();
+ set_site(0, x_default, y_default, z_default - 20);
+ set_site(1, x_default, y_default, z_default - 20);
+ set_site(2, x_default, y_default, z_default - 20);
+ set_site(3, x_default, y_default, z_default - 20);
+ wait_all_reach();
+ move_speed = body_dance_speed;
+ head_up(30);
+ for (int j = 0; j < i; j++)
+ {
+ if (j > i / 4)
+ move_speed = body_dance_speed * 2;
+ if (j > i / 2)
+ move_speed = body_dance_speed * 3;
+ set_site(0, KEEP, y_default - 20, KEEP);
+ set_site(1, KEEP, y_default + 20, KEEP);
+ set_site(2, KEEP, y_default - 20, KEEP);
+ set_site(3, KEEP, y_default + 20, KEEP);
+ wait_all_reach();
+ set_site(0, KEEP, y_default + 20, KEEP);
+ set_site(1, KEEP, y_default - 20, KEEP);
+ set_site(2, KEEP, y_default + 20, KEEP);
+ set_site(3, KEEP, y_default - 20, KEEP);
+ wait_all_reach();
+ }
+ move_speed = body_dance_speed;
+ head_down(30);
+}
+
+/*
+ - microservos service /timer interrupt function/50Hz
+ - when set site expected,this function move the end point to it in a straight line
+ - temp_speed[4][3] should be set before set expect site,it make sure the end point
+ move in a straight line,and decide move speed.
+ ---------------------------------------------------------------------------*/
+void servo_service(void)
+{
+ sei();
+ static float alpha, beta, gamma;
+
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 3; j++)
+ {
+ if (abs(site_now[i][j] - site_expect[i][j]) >= abs(temp_speed[i][j]))
+ site_now[i][j] += temp_speed[i][j];
+ else
+ site_now[i][j] = site_expect[i][j];
+ }
+
+ cartesian_to_polar(alpha, beta, gamma, site_now[i][0], site_now[i][1], site_now[i][2]);
+ polar_to_servo(i, alpha, beta, gamma);
+ }
+
+ rest_counter++;
+}
+
+/*
+ - set one of end points' expect site
+ - this founction will set temp_speed[4][3] at same time
+ - non - blocking function
+ ---------------------------------------------------------------------------*/
+void set_site(int leg, float x, float y, float z)
+{
+ float length_x = 0, length_y = 0, length_z = 0;
+
+ if (x != KEEP)
+ length_x = x - site_now[leg][0];
+ if (y != KEEP)
+ length_y = y - site_now[leg][1];
+ if (z != KEEP)
+ length_z = z - site_now[leg][2];
+
+ float length = sqrt(pow(length_x, 2) + pow(length_y, 2) + pow(length_z, 2));
+
+ temp_speed[leg][0] = length_x / length * move_speed * speed_multiple;
+ temp_speed[leg][1] = length_y / length * move_speed * speed_multiple;
+ temp_speed[leg][2] = length_z / length * move_speed * speed_multiple;
+
+ if (x != KEEP)
+ site_expect[leg][0] = x;
+ if (y != KEEP)
+ site_expect[leg][1] = y;
+ if (z != KEEP)
+ site_expect[leg][2] = z;
+}
+
+/*
+ - wait one of end points move to expect site
+ - blocking function
+ ---------------------------------------------------------------------------*/
+void wait_reach(int leg)
+{
+ while (1)
+ if (site_now[leg][0] == site_expect[leg][0])
+ if (site_now[leg][1] == site_expect[leg][1])
+ if (site_now[leg][2] == site_expect[leg][2])
+ break;
+}
+
+/*
+ - wait all of end points move to expect site
+ - blocking function
+ ---------------------------------------------------------------------------*/
+void wait_all_reach(void)
+{
+ for (int i = 0; i < 4; i++)
+ wait_reach(i);
+}
+
+/*
+ - trans site from cartesian to polar
+ - mathematical model 2/2
+ ---------------------------------------------------------------------------*/
+void cartesian_to_polar(volatile float &alpha, volatile float &beta, volatile float &gamma, volatile float x, volatile float y, volatile float z)
+{
+ //calculate w-z degree
+ float v, w;
+ w = (x >= 0 ? 1 : -1) * (sqrt(pow(x, 2) + pow(y, 2)));
+ v = w - length_c;
+ alpha = atan2(z, v) + acos((pow(length_a, 2) - pow(length_b, 2) + pow(v, 2) + pow(z, 2)) / 2 / length_a / sqrt(pow(v, 2) + pow(z, 2)));
+ beta = acos((pow(length_a, 2) + pow(length_b, 2) - pow(v, 2) - pow(z, 2)) / 2 / length_a / length_b);
+ //calculate x-y-z degree
+ gamma = (w >= 0) ? atan2(y, x) : atan2(-y, -x);
+ //trans degree pi->180
+ alpha = alpha / pi * 180;
+ beta = beta / pi * 180;
+ gamma = gamma / pi * 180;
+}
+
+/*
+ - trans site from polar to microservos
+ - mathematical model map to fact
+ - the errors saved in eeprom will be add
+ ---------------------------------------------------------------------------*/
+void polar_to_servo(int leg, float alpha, float beta, float gamma)
+{
+ if (leg == 0)
+ {
+ alpha = 90 - alpha;
+ beta = beta;
+ gamma += 90;
+ }
+ else if (leg == 1)
+ {
+ alpha += 90;
+ beta = 180 - beta;
+ gamma = 90 - gamma;
+ }
+ else if (leg == 2)
+ {
+ alpha += 90;
+ beta = 180 - beta;
+ gamma = 90 - gamma;
+ }
+ else if (leg == 3)
+ {
+ alpha = 90 - alpha;
+ beta = beta;
+ gamma += 90;
+ }
+
+ servo[leg][0].write(alpha);
+ servo[leg][1].write(beta);
+ servo[leg][2].write(gamma);
+}
diff --git a/Robots/Quadruped robot/Spider robot/README.md b/Robots/Quadruped robot/Spider robot/README.md
new file mode 100644
index 00000000..3173157a
--- /dev/null
+++ b/Robots/Quadruped robot/Spider robot/README.md
@@ -0,0 +1,83 @@
+#Arduino Quadruped Robot
+
+Arduino Quadruped Robot the project delivered from upstream project [RegisHsu](http://goo.gl/H1vvwW)'s spider robot. This project has been redesigned in 3d printed parts eg: didn't glue servo holder with tibia and fumer, resize body to fit [12300 LIPO battery](http://goo.gl/VmvYhv). You don't need to make a bluetooth remote control anymore but you can control robot using [Android App Bluetooth Joystick](https://github.com/anoochit/android-robot-bt-joypad) instead, [get app from Google PlayStore](https://goo.gl/MF46JS).
+
+New command mode (see source code for detail)
+
+* Test mode - test robot movement in bluetooth command
+* Sonar mode - wave your hand in front of ultrasonic sensor to wake up robot
+* Free walk mode - walk and avoid obstacle in 20cm like robot vacuum
+
+##Bill of Materials
+
+###3D printed parts
+
+ * Top Body x 1
+ * Bottom Body x 2
+ * Femur x 4
+ * Coxa Left x 2
+ * Coxa Right x 2
+ * Left Tibia x 2
+ * Right Tibia x 2
+ * Electronic plate x 1
+
+###Electronic parts
+
+ * Arduino Nano x 1
+ * Arduino Nano expansion board x 1 (optional)
+ * Tower Micro Servo 9G x 12
+ * Switch x 1
+ * UBEC 5V 3A or Reguletor 5V 3A
+ * LIPO Battery 7V/12V 3A (3A play for 1hr)
+ * Prototype PCB Board 6x8 cm
+ * LED x 1
+ * DC Socket 2.5mm x 1
+ * Pin header
+ * Female Pin Header
+ * M3 25mm screw x 4
+ * M3 10mm screw x 4ผ
+ * M2 10mm screw x 4
+
+##Assemply
+
+Assembly the printed parts for 4 legs with servos, don't screw servo axis at this time, then assembly legs with body.
+
+
+
+
+
+Assemply electronic parts (schematic'll add later)
+
+ * Servo pulse pin connect to Arduino Nano pin D2-D13
+ * Servo VCC and GND connect to regulator output
+ * Bluetooth HC-05 Vcc to to Arduino Nano 5V pin, GND, RX-TX and TX-RX
+ * Arduino Nano, Vin and GND connect to regulator output 5v
+ * Use dc jack connect with LIPO battery
+ * Connect battery to input of regulator for stepdown output to 5v
+
+Group servo wire use order Fumer, Tibia, Coxa, connect servos to arduino pin for each leg
+
+ * Lelf Front connect to pin D2-D4
+ * Lelf Back connect to pin D5-D7
+ * Right Front connect to pin D8-D10
+ * Right Back connect to pin D11-D13
+
+Flash leg_init.ino script to initial servo angle then screw tight all servo axis, leg position like picture.
+
+
+
+Flash spider_robot.ino to Arduino, Finish.
+
+##How to play
+
+Clone joystick app build and install or [get app from Google PlayStore](https://goo.gl/MF46JS) to your mobile phone, open app, swipe and choose connect menu, choose robot bluetooth to connect.
+
+
+
+Use setting menu to config button or choose QRCode Scanner to scan QRCode below for automatic config.
+
+
+
+Now you can play your robot. see robot in action at [https://www.youtube.com/watch?v=OoDke587s8s](https://www.youtube.com/watch?v=OoDke587s8s)
+
+
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