![](https://lh5.googleusercontent.com/--td3IxfiWiU/T1ahAVK199I/AAAAAAAAAeA/NQF84_PYH_w/spiderboard.jpg)
I decided a simpler proof of concept was well overdue. This weekend I buckled down and drank a lot of Red Bull. I finished printing the parts I needed for the legs, I cut and stripped the wires, and I hooked my sanguino up to a breadboard.
![](https://lh4.googleusercontent.com/-NppPrnAjSGA/T1ag_Xx8wcI/AAAAAAAAAdk/7_7yppYmMpU/breadboard_sanguino_spider.jpg)
Connecting all 18 servos alone took hours.
![](https://lh4.googleusercontent.com/-hbf_gprHts0/T1ag_luXWUI/AAAAAAAAAd0/0UVqi9RR_Cc/much_servos_spider.jpg)
Snapping the legs together took longer than expected, too.
![](https://lh6.googleusercontent.com/-T7hLO0frxQ8/T1ahAPUbe4I/AAAAAAAAAd4/Xdn0cARtMdA/loose_legs_spider.jpg)
But the finished product, though only a proof of concept, gave me chills. I have been awaiting it's completion for many months.
![](https://lh3.googleusercontent.com/-258sQ_SkiCw/T1ahAwMdtbI/AAAAAAAAAeM/XsrCPOvKmQA/breadboard_spider.jpg)
Extending the firmware to support all six legs, as well as writing the walk sequence took several hours. Every time I dig this deep into c++ I end up having to re-conceptualize pointers. The sequence could still use some tweaking, and some of the parts could be more exact, but it moves!!
I am still excited to see the more robust solution I envisioned, but I am still months away from that. In the mean time, since I have STL files from the printed parts, it wasn't much trouble to render an animation of what it should look like after the prototype phase.
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