Legs Electronics

Content Coming Soon

This section of the documentation is currently being prepared. Technical content, diagrams, and field notes will be added soon as the Zig Animatronic Robot project progresses.

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Here is the electronics diagram of the legs:

---
config:
  layout: dagre
---
flowchart TB
    n1["Raspberry Pi Pico 2"] <--> n2["SPI"] & n6["SimpleFoc Mini"] & n8["SimpleFoc Mini"] & n12["Half Duplex"]
    n2 <--> n3["AS5048a<br>encoder"] & n4["AS5048a<br>encoder"] & n5["IMU SEN-15335"]
    n6 <--> n7(["Gimball GM3506"])
    n8 <--> n9(["Gimball GM3506"])
    n10["Raspberry Pi Pico 2"] <--> n11["UART"]
    n11 <--> n1
    n12 <--> n13(["FeetechSTS3215-C018"])
    n12 <--> n14(["FeetechSTS3215-C018"])

    n1@{ shape: rounded}
    n2@{ shape: diam}
    n6@{ shape: rect}
    n8@{ shape: rect}
    n12@{ shape: diam}
    n3@{ shape: rect}
    n4@{ shape: rect}
    n5@{ shape: rect}
    n10@{ shape: rounded}
    n11@{ shape: diam}
    style n1 fill:#FFE0B2
    style n2 fill:#BBDEFB
    style n12 fill:#BBDEFB
    style n10 fill:#FFD600