8-leg walker gait sandbox

Two servos per leg on PCA9685 channels 0–15. Every servo reads 90° when the robot stands still in its neutral pose, so set each horn to 90° and attach the leg in that position.

Side view of the left legs

Settings

Motors

Click a row to chart that leg. Min, max, trim and invert apply to each servo. Right-side servos start inverted because they mount mirrored. Red values go past that servo’s limits.

ChMotorAngle nowPulse nowRange in cycleSwingPeak speedMinMaxTrimInvertStatus

Use these angles on the ESP32

This makes a 24-step angle table for all 16 channels using your current settings and limits. Play the rows top to bottom to walk forward, bottom to top to walk backward, and change the delay between rows to change speed.