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Rune Harlyk
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Spot is comprised of a 3D printed body, some hardware and list of electronic components.
## Body
## Hardware
Spot is 3D printed and is a combination of different Spot Micro designs, with some minor modification on top.
The original design is developed by KDY0523.
* [robjk reinforced shoulder remix](https://www.thingiverse.com/thing:4937631)
* [Kooba SpotMicroESP32 remix](https://www.thingiverse.com/thing:4559827)
* [KDY0532 original design](https://www.thingiverse.com/thing:3445283)
- [robjk reinforced shoulder remix](https://www.thingiverse.com/thing:4937631)
- [Kooba SpotMicroESP32 remix](https://www.thingiverse.com/thing:4559827)
- [KDY0532 original design](https://www.thingiverse.com/thing:3445283)
The 3D prints is assembled with some additional component:
* 84x M2x8 screws + M2 nuts
* 92x M3x8 screws + M3 nuts
* 64x M3x20 screws + M3 nuts
* 12x 625ZZ ball bearings
- 84x M2x8 screws + M2 nuts
- 92x M3x8 screws + M3 nuts
- 64x M3x20 screws + M3 nuts
- 12x 625ZZ ball bearings
## Electronics
These are the electronics i used for mine and can easily be switched up to suit your Spot's needs.
* ESP32 cam - Brain
* OV2640 160° - Camera
* PCA9685 - Servo board
* 12x 20kg(or higher) servo motors
* MPU6050 - Inertial measurement unit
* GY-271 - Magnetometer
* SZBK07 - 20A DC-DC Buck Converter
* LM2596 or XL4015 - DC-DC Stepdown Module
* 2x HC-SR04 - Ultrasonic Distance Sensor
* 0.96" SD1306 - OLED diplay
* ACS712 - Current sensor
* ADS1115 - 16 bit analog to digital converter
* Power button w/ led
* 4x 18650 Li-ion battery in 2P2S configuration
* Couple of resistors (10K, 47.7k, 33K)
* 4x Servo extension cables
| Component | Specification | Required | Recommendation |
| ------------------------- | ----------------------------- | -------- | ------------------------------------------------------------------------------------------------------- |
| ESP32 | Brain | Yes | ESP32-S3 (N8R8) with a camera. |
| OV2640 or OV5640 | Camera | No | 120-160° |
| PCA9685 | Servo board | Yes | Add thicker solder traces |
| 12x Servo motors | Actuators | Yes | 20kg-35kg with high speed. If they are rated for your battery voltage you can skip the step down module |
| MPU6050 | Inertial measuring unit (IMU) | No | GY-87 or MPU-9250 include magnetometer |
| HMC5883 | Magnetometer | No | GY-87 or MPU-9250 include magnetometer |
| Power switch | Main power switch | Yes | |
| Power button w/ led | Mode switch controller | No | |
| 2x HC-SR04 | Ultrasonic Distance Sensor | No | |
| LM2596 or XL4015 | DC-DC Stepdown Module | Yes | Should be set a 5V for the ESP32 and peripherals |
| 0.96" SD1306 | OLED display | No | |
| SZBK07 | 20A DC-DC Buck Converter | No | Stepdown to servo voltage. If you select servos rated for you battery voltage, you don't need this. |
| 7.6-8.4V Battery | Battery | No | Im using 4x 18650 in 2s2p configuration, but other people have 2s LiPos. |
| 4x Servo extension cables | Servo extension cables | Yes | You can either buy them or make them with a couple or headers and some cable. |
I recommend getting a ESP32-S3 with a camera, allowing for more computation and imaging capabilities.
It means a more responsive robot as its faster doing sensor fusion, calculating kinematic and gait planning, and networking.