Development is moving along, but I have a minor problem with my “get up” routine. My version seems to stress the servos much more than PoMoCo. I read the python code, but it seems you are doing something on the low level that I am not. Mine rises via a tripod scheme, but PoMoCo seems to be doing it one leg at the time very quickly. Any suggestions?
DocBill
Yeah, we’re basically telling each leg to raise to the same level, waiting a short while, and then telling each leg to raise just a little further up. Repeat until they’re all at standing height. I think by raising one tripod at a time you’re putting the full load of lifting onto three legs instead of six, so that might be the problem.
Actually, with 5 Nimh’s tripoding works well. The stress on the tripods seems less now, although I went through 13 of them(plastic gears)! I am now using metal gear replacements servos as the plastic ones keep stripping. Hexy is now autonomous. There is still the problem of the sonar. It seems to go through periods where it returns 0. At the moment, hexy waits until the 0’s stop, but it does make for a start and stop motion.
docbill
P.S. I just donated to sparki. Will it come in kit form as well?
Sparki will come assembled as a complete robot. Its designed to be easy enough to build in a factory in 30 seconds (no more 3-4 hour builds!), but still being easy to open and poke around.
Hey Joe, don’t be so hard on the 4 hour Hexy build. It’s how we start to build up the relationship with our little six-legged friend 
No offense to Hexy meant, I just know some teachers that wouldn’t like building 20 Hexy’s for a classroom.