diff --git a/Electronics Parts/Resistors/Resistor Array/Array chip resistor 103.png b/Electronics Parts/Resistors/Resistor Array/Array chip resistor 103.png
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index 00000000..134ebb55
Binary files /dev/null and b/Electronics Parts/Resistors/Resistor Array/Array chip resistor 103.png differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_bottom.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_bottom.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_bottom.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_top.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_top.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_body_top.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_left.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_left.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_left.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_right.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_right.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_coxa_right.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_arduino-uno.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_arduino-uno.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_arduino-uno.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_pcb.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_pcb.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_electronic_pcb.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_furmer.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_furmer.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_furmer.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_left.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_left.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_left.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_rigth.FCStd b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_rigth.FCStd
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/01 FCStd/quad_robot_tibia_rigth.FCStd differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/SP-08-complete-model.stl b/Robotic Parts/Quadruped robot/02 STL/SP-08-complete-model.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/SP-08-complete-model.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_bottom.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_bottom.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_bottom.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_top.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_top.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_body_top.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_left.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_left.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_left.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_right.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_right.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_coxa_right.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_electronic_arduino-uno.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_electronic_arduino-uno.stl
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diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_electronic_pcb.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_electronic_pcb.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_electronic_pcb.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_furmer.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_furmer.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_furmer.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_left.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_left.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_left.stl differ
diff --git a/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_right.stl b/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_right.stl
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Binary files /dev/null and b/Robotic Parts/Quadruped robot/02 STL/quad_robot_tibia_right.stl differ
diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_BoardOutline.GKO b/Robotic Parts/Quadruped robot/03 Board/Gerber_BoardOutline.GKO
new file mode 100644
index 00000000..1583218b
--- /dev/null
+++ b/Robotic Parts/Quadruped robot/03 Board/Gerber_BoardOutline.GKO	
@@ -0,0 +1,74 @@
+G04 ---------------------------- Layer name :KeepOutLayer*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomLayer.GBL b/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomLayer.GBL
new file mode 100644
index 00000000..9d627087
--- /dev/null
+++ b/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomLayer.GBL	
@@ -0,0 +1,6991 @@
+G04 ---------------------------- Layer name :BOTTOM LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
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+
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomSilkLayer.GBO b/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomSilkLayer.GBO
new file mode 100644
index 00000000..912edcc4
--- /dev/null
+++ b/Robotic Parts/Quadruped 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/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomSolderMaskLayer.GBS b/Robotic Parts/Quadruped robot/03 Board/Gerber_BottomSolderMaskLayer.GBS
new file mode 100644
index 00000000..763e7521
--- /dev/null
+++ b/Robotic Parts/Quadruped 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*
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_TopLayer.GTL b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopLayer.GTL
new file mode 100644
index 00000000..1e0c3fe6
--- /dev/null
+++ b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopLayer.GTL	
@@ -0,0 +1,7680 @@
+G04 ---------------------------- Layer name :TOP LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_TopPasteMaskLayer.GTP b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopPasteMaskLayer.GTP
new file mode 100644
index 00000000..1891874a
--- /dev/null
+++ b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopPasteMaskLayer.GTP	
@@ -0,0 +1,24 @@
+G04 ---------------------------- Layer name :TOP PASTER LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
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+G04 Dimensions in millimeters *
+G04 leading zeros omitted , absolute positions ,3 integer and 3 decimal *
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_TopSilkLayer.GTO b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopSilkLayer.GTO
new file mode 100644
index 00000000..f1315df1
--- /dev/null
+++ b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopSilkLayer.GTO	
@@ -0,0 +1,9228 @@
+G04 ---------------------------- Layer name :TOP SILK LAYER*
+G04 EasyEDA v5.5.11, Sun, 03 Jun 2018 10:16:40 GMT*
+G04 422a67246ae34fc7a473e8fc002879eb*
+G04 Gerber Generator version 0.2*
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_TopSolderMaskLayer.GTS b/Robotic Parts/Quadruped robot/03 Board/Gerber_TopSolderMaskLayer.GTS
new file mode 100644
index 00000000..18dcd858
--- /dev/null
+++ b/Robotic Parts/Quadruped 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 *
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+
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_drill_NPTH.DRL b/Robotic Parts/Quadruped robot/03 Board/Gerber_drill_NPTH.DRL
new file mode 100644
index 00000000..b3cb2e95
--- /dev/null
+++ b/Robotic Parts/Quadruped 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
+%
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+G90
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diff --git a/Robotic Parts/Quadruped robot/03 Board/Gerber_drill_PTH.DRL b/Robotic Parts/Quadruped robot/03 Board/Gerber_drill_PTH.DRL
new file mode 100644
index 00000000..7a417186
--- /dev/null
+++ b/Robotic Parts/Quadruped 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
+%
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diff --git a/Robotic Parts/Quadruped robot/04 Arduino/legs_init/legs_init.ino b/Robotic Parts/Quadruped robot/04 Arduino/legs_init/legs_init.ino
new file mode 100644
index 00000000..5ad35dc9
--- /dev/null
+++ b/Robotic Parts/Quadruped 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/Robotic Parts/Quadruped robot/04 Arduino/spider_robot/Spider_SP8.ino b/Robotic Parts/Quadruped robot/04 Arduino/spider_robot/Spider_SP8.ino
new file mode 100644
index 00000000..b49d8c6e
--- /dev/null
+++ b/Robotic Parts/Quadruped 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/Robotic Parts/Quadruped robot/04 Arduino/spider_robot/spider_robot.ino b/Robotic Parts/Quadruped robot/04 Arduino/spider_robot/spider_robot.ino
new file mode 100644
index 00000000..7abba4ec
--- /dev/null
+++ b/Robotic Parts/Quadruped 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/Robotic Parts/Quadruped robot/README.md b/Robotic Parts/Quadruped robot/README.md
new file mode 100644
index 00000000..3173157a
--- /dev/null
+++ b/Robotic Parts/Quadruped 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.
+
+![](https://lh3.googleusercontent.com/-4tBILi1vqYU/Vgt_RQe2tgI/AAAAAAAAVaw/efOxZv4JH3M/s640-Ic42/12036446_10154144146409989_5611113044391454922_n.jpg)
+
+![](https://lh3.googleusercontent.com/-IXZaI3R5D1k/Vgt_QJF4h7I/AAAAAAAAVaw/deyxqifE9UM/s640-Ic42/11935093_10154146124574989_8970865697741230982_n.jpg)
+
+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.
+
+![](https://lh3.googleusercontent.com/-HG1EKSQT2PU/VnBCA2T4ROI/AAAAAAAAWKY/pNngD10mjrk/s640-Ic42/20151215_224251.jpg)
+
+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.
+
+![](https://lh3.googleusercontent.com/-a1jGQdI0nWk/VlglODy-uKI/AAAAAAAAV_8/Ckz4pwvxymg/s640-Ic42/DFG_2015-11-27-16-37-40.png)
+
+Use setting menu to config button or choose QRCode Scanner to scan QRCode below for automatic config.
+
+![](https://lh3.googleusercontent.com/-e-Jw3qc6Nnc/Vl2kEDDOFII/AAAAAAAAWB8/uS01f0dblVQ/s800-Ic42/spider_qr_code_without_logo.png)
+
+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)
+
+
diff --git a/Robotic Parts/Quadruped robot/other spider/files/Boddy_Bottom_Lipo.stl b/Robotic Parts/Quadruped robot/other spider/files/Boddy_Bottom_Lipo.stl
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