IR remote controlled Mini Hexapod

Hi (sorry for my bad english). It's my first Hexapod i have ever made. My inspiration was Pololu Simple Hexapod Walker. I wanted to make it simple so i used well known TowerPro SG90 micro servos and ATmega8 microcontroller.

I attached blue diode to every leg to make it look cooler. I control every led by different pin so i made a various sequences of blinking for every move. Every leg is made of steel rod so i use them to power leds.

I use RCoid app on my android phone with ir diode to send RC5 frames to hexapod.

List of the main components:

• ATmega8A-PU microcontroller

• 3x TowerPro SG90 micro servos

• Pololu S7V7F5 voltage regulator

• TSOP31236 ir receiver module

• 6x blue leds

• 8 MHz quartz crystal

• 4x AAA battery with holder

• some resistors, capacitors and wire

Some media:

Let me know if you have any questions :)

EDIT 11.03.2020

Unfortunately I have deleted my source code months ago. The only thing I found is timer overflow interrupt code for software PWM.

I'm using 8MHz crystal, thus, to obtain 50Hz required for servo control i don't use prescaling (set as 1) and count to 625 8000000Hz/1/256/625=50Hz [20ms].

ISR(TIMER0_OVF_vect) {
    static uint16_t cnt;
    if(cnt>=r) PORTC &= ~(1<<PC3); else PORTC |= (1<<PC3);
    if(cnt>=m) PORTC &= ~(1<<PC4); else PORTC |= (1<<PC4);
    if(cnt>=l) PORTC &= ~(1<<PC5); else PORTC |= (1<<PC5);
    cnt++;
    if(cnt>625) cnt = 0;
}

I made schematic as I wrote in comments section below.