This week, I finally got all eighteen of the servo motors working with the new function, which is a big step in getting the robot to be complete. I did run into a few issues, though, especially with calibration and making sure that the servo cluster function actually worked as intended, since it was going from -1 to 1 instead of the previous 0 to 1 values I had before. When I attached the motors to the 3D print, I had a bit of an issue since the servo horns had these gears on

This week, I started by changing around the mold that I had previously made, and changed it to better fit the end of the leg. I then printed it out, which came out well, and then I mixed and poured in the resin. I tried to make sure each surface was coated before clamping the pieces together, since I wanted to try and remove any air bubbles that could appear if the silicone wasn't fully distributed. This ended up still happening, though, as a small bubble appeared in between

At the start of this week, I was finishing designing the cover part for the hexapod and scaling up to a size that looked best, but also fit the space where it needed to go. I designed it after a similar robot from a game I like, so I tried to make it look pretty accurate to the real thing. This led me to scale it to about 1.3 times the original size since it looked pretty weird when it was so small before. This is the robot I modeled it after With the legs in place, the cover