Hexapod phoenix code modification (wifi (mqtt)/ bluetooth controlled)

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So i’m trying to make a hexapod using kurt/Phoenix hexapod using a pololu maestro and an esp32
i’m trying to change it a bit but not that versed in modding other peoples projects…although i did mod it to use a ps4 controller. But that wasn’t difficult.

So heres the general idea. If i can at least find the lynxmotion Powerpod or psx instruction set i can just pipe that through serial from node red or another arduino.
Capto_Capture 2021-05-27_11-05-33_AM

If anyone has a better way to do it that would be great. Even if i can get it wifi/ap and bluetooth controlled
Any suggestions are needed.

Thanks

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@Eli99k Welcome to the RobotShop Community. The creators / modifiers of the Phoenix code are on this community and are participating in the SES V2 Hexapod BETA here:
https://community.robotshop.com/forum/t/lynxmotion-ses-v2-hexapod-robot/62511/731

They include kurte, xan and zenta, and others are becoming increasingly knowledgeable and capable too.
kurte is actually working on the PS4 too w.r.t. hexapod control.

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