I started the Hexapod Project by commenting and optimizing a first version of the file structure and some first methods for a leg of the hexapod. At first I was struggeling a bit with understanding c++ objects and classes and what header files do, but after a lot of research and commenting the code, I learned a lot of new stuff, so that I could start testing some of the Hardware.
That’s why I started implementing some test files to test the servo with just the esp32 or when it is connected to the servo driver board. For it to work me and my friend had to change the platformio file a bit, but now we both understand how to load up different & individual files on the esp32.
My next step would probably be implementing more test methods, since some of my hardware hasn’t arrived yet. Maybe I will start to look at the inverse kinematics, so the movement (for at least one leg) can be implemented soon.