| Duplhex - by David Buckley
| 2012 - August 2023
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Duplhex is a hexapod driven by two DC motors, controlled by a PicAxe40x2 microcontroller and powered by four AA cells.
Duplhex can walk Forwads, Backwards and turn Right and Left.
There is a Black Box underneath holding 4AA cells.
Sensing can be done by the Ultrasonic ranger module.
There are two forward facing Opto Sensors for detecting obstacles.
There are two downward facing Opto Sensors for detecting drop-offs and holes.
Duplhex can play sounds and Ring-tunes from its onboard speaker.
Peripherals can be plugged into -
- a bytewide header on Port-B - [x 0v B0 B1 B2 B3 B4 B5 B6 B7 5V x]
- a Serial Port or other header - [0v 5v Tx(D2) Rx(D3)]
- an IIC header - [0v 5v sda sck]
Duplhex can store sixteen user inputted 16 character command strings in its memory.
There is a socket for extra memory so hundreds of commands could be stored.
Duplhex can be instructed by commands from a Sony IR remote-control.
The full set of instructions can be sent serially as text over cable or a plugin radio module.
Duplhex has an on-board command-help file.
The chassis was made and the circuit board started in 2012 but wiring was not finished until 9 August 2023 and the Opto Sensors were added on 22 November 2025.
The software was ported from Loki and modified to drive the two DC motors instead of four servos.
Duplhex with Opto Sensors
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Duplhex Software
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