I was gone for the inital design of my groups machine but the inital design was mostly based around already exsisting files so I did not miss too much. After confirming all of our parts worked I soldered togther a protoboard for the project as nearly everything is I2C based so it was not complex enough to warrent a circuit board. After the protoboard worked I spent some time looking into other peoples walking animations to figure out the best method to get our robot to walk. the easiest way it seemed would be to lift up the end of the leg and then move that leg forward and repeat for all legs then move every leg backwards to get it to move.

problems we faced with our methods, the legs had a lack of friction and when this was designed weight was not factored in and the strain on servos was also not considered. This means the the legs are barely able to support the weight of the full project and it often falls over from the balence it lacks. Also I never had time to do this but all the motors need offsets to be calibrated

Mostly I consider this project a not great as a lot of the work was not origonal so I think more could have been done to make this better, and the attempt to use AI to code is not something I support or ever will esspically in a learning enviroment. I again do not use AI and never will I do not support the use of Claude code or any forms of AI work, the gif displayed uses only origonal code written by me excluding the library for translating degrees to I2C commands for the servo driver. I do not think the use of AI here is justified as it takes away our ability to learn. In the end however all code was written by humans.