3D view
Gait timing
Load check
Settings
Motors
Click a row to chart that limb. Channel = corner × 4 + limb × 2 + joint (corners FL, FR, RL, RR; inner then outer; hip then knee). Min, max, trim, pulse range and invert apply to each servo; empty pulse cells use the servo model default. Right-side servos start inverted because they mount mirrored. Every command is clamped to min/max. Red values go past that servo’s limits.
| Ch | Motor | Angle now | Pulse now | Range in cycle | Swing | Peak speed | Min | Max | Trim | Pulse 0° | Pulse 180° | Invert | Status |
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Gait table for the ESP32
Records the simulation at 50 Hz (one row every 20 ms) for all 16 channels, in 0.1° units, clamped to each servo’s limits. On power-up the sketch moves to the stand pose one corner at a time, plays the startup rows once (lower the body, step each limb into place, one warm-up cycle), then loops the gait rows. Playback only: no live tuning or mode commands. Generate again after changing settings.