Tell me which library can be used to create a heusapod robot on pca9685
Maybe there is something immediately for controlling robots, for example, like this one: GitHub - dmkyr20/spider: The simple C/C++ library for hexapod (Robot spider with 6 legs) on Arduino.
I moved your topic to an appropriate forum category @alexa562145655652555.
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Thanks in advance for your cooperation.
I think you will have to combine the PCA9685.h and some more libraries according to the features of your robot. GitHub - NachtRaveVL/PCA9685-Arduino: Arduino Library for the PCA9685 16-Channel PWM Driver Module.