{"id":644,"date":"2026-06-11T13:41:49","date_gmt":"2026-06-11T05:41:49","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/hexapod-six-legged-robot-arduino-ssc32-rough-terrain-farsi\/"},"modified":"2026-06-11T13:41:50","modified_gmt":"2026-06-11T05:41:50","slug":"hexapod-six-legged-robot-arduino-ssc32-rough-terrain-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/hexapod-six-legged-robot-arduino-ssc32-rough-terrain-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0686\u0631\u062e \u067e\u0627\u0647\u0627\u06cc \u0634\u0634\u200c\u06af\u0627\u0646\u0647 \u0647\u06af\u0632\u0627\u067e\u0627\u062f \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 SSC-32: \u06af\u0634\u062a\u200c\u0632\u0646\u06cc \u0632\u0645\u06cc\u0646 \u0646\u0627\u0647\u0645\u0648\u0627\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0647\u06af\u0632\u0627\u067e\u0627\u062f \u0634\u0634\u200c\u067e\u0627 SSC-32 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0631\u0627\u0647 \u0631\u0641\u062a\u0646\n<\/div>\n
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\u0647\u06af\u0632\u0627\u067e\u0627\u062f \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u06cc\u06a9 \u0647\u06af\u0632\u0627\u067e\u0627\u062f<\/strong> \u06cc\u06a9 \u0631\u0628\u0627\u062a \u06f6 \u067e\u0627\u06cc\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0627\u0632 \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0631\u0627\u06cc \u062d\u0631\u06a9\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0631\u062e\u0644\u0627\u0641 UGV \u0686\u0631\u062e\u200c\u062f\u0627\u0631 \u06a9\u0647 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646\u200c\u0647\u0627\u06cc \u0646\u0627\u0647\u0645\u0648\u0627\u0631 \u0645\u0634\u06a9\u0644 \u062f\u0627\u0631\u062f\u060c \u0647\u06af\u0632\u0627\u067e\u0627\u062f \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0627\u0632 \u0631\u0648\u06cc \u0633\u0646\u06af\u200c\u0647\u0627\u060c \u067e\u0644\u0647\u200c\u0647\u0627\u060c \u0648 \u0632\u0645\u06cc\u0646\u200c\u0647\u0627\u06cc \u0646\u0627\u0645\u0646\u0638\u0645 \u0631\u062f \u0634\u0648\u062f \u2014 \u0645\u062b\u0644 \u06cc\u06a9 \u062d\u0634\u0631\u0647!<\/p>\n

\u0647\u0631 \u067e\u0627 \u06f3 \u0633\u0631\u0648 \u062f\u0627\u0631\u062f (Coxa\u060c Femur\u060c Tibia) \u2014 \u062c\u0645\u0639\u0627\u064b \u06f1\u06f8 \u0633\u0631\u0648. \u06a9\u0646\u062a\u0631\u0644\u0631 SSC-32U<\/strong> \u06cc\u06a9 \u0633\u0631\u0648 \u06a9\u0646\u062a\u0631\u0644\u0631 \u06f3\u06f2 \u06a9\u0627\u0646\u0627\u0644\u0647 \u0628\u0627 UART \u0627\u0633\u062a \u06a9\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0631\u0627 \u0627\u0632 \u0641\u0631\u0633\u062a\u0627\u062f\u0646 \u06f1\u06f8 \u0633\u06cc\u06af\u0646\u0627\u0644 PWM \u0631\u0647\u0627 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0644\u06af\u0648\u06cc \u0631\u0627\u0647 \u0631\u0641\u062a\u0646 Tripod Gait<\/strong> (\u06f3 \u067e\u0627 \u0632\u0645\u06cc\u0646\u060c \u06f3 \u067e\u0627 \u0647\u0648\u0627) \u0633\u0631\u06cc\u0639\u200c\u062a\u0631\u06cc\u0646 \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0647\u06af\u0632\u0627\u067e\u0627\u062f \u06f1\u06f8-\u0633\u0631\u0648 \u0628\u0627 \u06a9\u0646\u062a\u0631\u0644 RC \u0648 \u0631\u0627\u0647\u200c\u0631\u0641\u062a\u0646 \u062e\u0648\u062f\u06a9\u0627\u0631.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f2 \u062a\u0627 \u06f4 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0631\u0639\u062a:<\/strong> \u06f2\u06f0 cm\/s (Tripod Gait)<\/li>\n
  • \u0628\u0627\u062a\u0631\u06cc:<\/strong> 3S 2200mAh<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\u0628\u062f\u0646\u0647 \u0647\u06af\u0632\u0627\u067e\u0627\u062f<\/text>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u25cf \u067e\u0627 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 (Tripod A)<\/text>\n\u25cf \u067e\u0627 \u062f\u0631 \u0647\u0648\u0627 (Tripod B)<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f Tripod Gait \u0628\u0627 SSC-32U<\/h2>\n
    \n#include <SoftwareSerial.h>\nSoftwareSerial ssc(10,11);  \/\/ RX,TX \u0628\u0647 SSC-32U\n\n\/\/ \u0645\u0648\u0642\u0639\u06cc\u062a \u0633\u0631\u0648 \u0647\u0631 \u067e\u0627: Coxa, Femur, Tibia\nstruct LegPos { int coxa, femur, tibia; };\n\n\/\/ \u06f6 \u067e\u0627: \u0634\u0645\u0627\u0631\u0647\u200c\u06af\u0630\u0627\u0631\u06cc \u06f0-\u06f5 (\u06f0-\u06f2 \u0686\u067e\u060c \u06f3-\u06f5 \u0631\u0627\u0633\u062a)\n\/\/ \u0633\u0631\u0648 \u067e\u0627\u06cc\u0647 \u0628\u0631\u0627\u06cc \u0647\u0631 \u067e\u0627:\nint legBase[6] = {0,3,6,9,12,15};  \/\/ \u0647\u0631 \u067e\u0627 \u06f3 \u0633\u0631\u0648 \u067e\u0634\u062a \u0633\u0631 \u0647\u0645\n\nvoid setServo(int ch, int pw_us) {\n  ssc.print(\"#\"); ssc.print(ch);\n  ssc.print(\"P\"); ssc.print(pw_us);\n  ssc.print(\"T500\\r\");  \/\/ \u062d\u0631\u06a9\u062a \u062f\u0631 \u06f5\u06f0\u06f0ms\n}\n\nvoid setLeg(int leg, LegPos pos) {\n  setServo(legBase[leg]+0, 1500+pos.coxa*10);   \/\/ Coxa\n  setServo(legBase[leg]+1, 1500+pos.femur*10);  \/\/ Femur\n  setServo(legBase[leg]+2, 1500+pos.tibia*10);  \/\/ Tibia\n}\n\nLegPos standPos = {0, -20, 40};   \/\/ \u0627\u06cc\u0633\u062a\u0627\u062f\u0647\nLegPos liftPos  = {0, -50, 80};   \/\/ \u067e\u0627 \u0628\u0627\u0644\u0627\n\nvoid tripodForward() {\n  \/\/ Tripod A (\u067e\u0627\u0647\u0627\u06cc \u06f0,\u06f2,\u06f4) \u0628\u0647 \u062c\u0644\u0648:\n  int A[] = {0,2,4}; int B[] = {1,3,5};\n  for(int i: A) setLeg(i, liftPos);\n  delay(300);\n  LegPos fw = {20,-20,40};\n  for(int i: A) setLeg(i, fw);\n  delay(300);\n  \/\/ Tripod B \u0628\u0647 \u062c\u0644\u0648:\n  for(int i: B) setLeg(i, liftPos);\n  delay(300);\n  for(int i: B) setLeg(i, fw);\n  delay(300);\n}\n\nvoid setup() {\n  ssc.begin(115200);\n  \/\/ \u0647\u0645\u0647 \u067e\u0627\u0647\u0627 \u062f\u0631 \u062d\u0627\u0644\u062a \u0627\u06cc\u0633\u062a\u0627\u062f\u0647:\n  for(int i=0;i<6;i++) setLeg(i, standPos);\n  delay(1000);\n}\n\nvoid loop() { tripodForward(); }\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u0648 \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0631\u0648\u0634<\/th>\n<\/tr>\n<\/thead>\n
    \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 SSC-32U \u062c\u062f\u0627\u0633\u062a\u061f<\/td>\n\u0628\u0627\u062a\u0631\u06cc \u06f6V \u0645\u0633\u062a\u0642\u06cc\u0645 (\u06f1\u06f8 \u0633\u0631\u0648 \u062c\u0631\u06cc\u0627\u0646 \u0632\u06cc\u0627\u062f \u0645\u06cc\u200c\u06a9\u0634\u0646\u062f)<\/td>\n<\/tr>\n
    \u0647\u0645\u0647 \u0633\u0631\u0648\u0647\u0627 \u062f\u0631 \u06f1\u06f5\u06f0\u06f0\u03bcs \u0645\u0631\u06a9\u0632 \u0647\u0633\u062a\u0646\u062f\u061f<\/td>\n\u0642\u0628\u0644 \u0627\u0632 \u0646\u0635\u0628 \u0628\u062f\u0646\u0647<\/td>\n<\/tr>\n
    Tripod Gait \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a\u061f<\/td>\n\u0631\u0628\u0627\u062a \u0646\u0628\u0627\u06cc\u062f \u0628\u06cc\u0641\u062a\u062f<\/td>\n<\/tr>\n
    \u0645\u0635\u0631\u0641 \u06a9\u0644 \u0632\u06cc\u0631 \u06f1\u06f0A\u061f<\/td>\n\u0622\u0645\u067e\u0631\u0645\u062a\u0631 \u0631\u0648\u06cc \u0633\u06cc\u0645 \u0628\u0627\u062a\u0631\u06cc<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nRC TX<\/text>\n\u062c\u0647\u062a+\u0633\u0631\u0639\u062a<\/text>\nArduino Nano<\/text>\nGait Logic<\/text>\nSSC-32U<\/text>\n\u06f1\u06f8 \u0633\u0631\u0648 UART<\/text>\n\u0647\u06af\u0632\u0627\u067e\u0627\u062f<\/text>\n\u0631\u0627\u0647 \u0631\u0641\u062a\u0646<\/text>\n\u0647\u06af\u0632\u0627\u067e\u0627\u062f \u2014 RC \u2192 Arduino \u2192 SSC-32U \u2192 \u06f1\u06f8 \u0633\u0631\u0648 \u2192 \u0631\u0627\u0647 \u0631\u0641\u062a\u0646<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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