The code tries to manipulate the IO pins as efficiently as possible, but it must be interrupt safe. In addition, minor improvement has been made to the legs so they’re more stable on any surface of the substrates. It's ultra low-cost, Bluetooth-controlled via a gamepad, and can also be programmed using the MIT Scratch drag-and-drop programming language. In the third and final part of this series, we will add the last part our robot: a remote control. I earlier did the work to make it run on the Pic32 processors. Vorpal the Hexapod is an awesome 3D-printed Arduino project.
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