Day 4: Assembly and IC connection

Today was another great day with good progress! Firstly, we fixed up each individual leg and all the corresponding servos, ensuring that they are all angled correctly. We then tested them by connecting them to the Arduino and making them move, which worked successfully. We then connected and soldered all the IC's to the Arduino, and tested them. Most of them worked great, except one of the Ultrasonic sensors in the front. The LCD we ordered is also missing an I2C module, so we will have to make do without it for now. Neither of these components are absolutely critical, and we hope to replace them with functioning ones within the coming weeks. We then assembled everything, and now Heracles is (almost) fully assembled! The cable management underneath is akin to a horror movie, but luckily we can just put a cover on top, so anyone looking is none is the wiser ;) (except whoever is reading this!) Next step is to start programming! We aim to just start by having it be able to stand up from a prone position, and then take it from there. But overall a great day, with wonderful science at work :-)