--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README	Tue Dec 30 13:02:21 2014 +0100
@@ -0,0 +1,95 @@
+
+Henk the Hexapod
+****************
+
+This is code and other files for Henk, a six-legged walking robot, which used
+PyBoard for its brains. Henk is programmed in Micropython, a version of Python
+3 suitable for running on microcontrollers.
+
+
+Bill of Materials
+-----------------
+
++-----------------+-------+
+|    Part Name    | Count |
++-----------------+-------+
+| SG90 Microservo |   18  |
++-----------------+-------+
+| PyBoard v1.0    |   1   |
++-----------------+-------+
+| Pololu Maestro  |       |
+| 18 Servo        |   1   |
+| Controller      |       |
++-----------------+-------+
+| Plastic Box     |   1   |
++-----------------+-------+
+| 2S 350mAh LiPo  |   1   |
+| Battery         |       |
++-----------------+-------+
+| 5A 5V UBEC      |   1   |
++-----------------+-------+
+| 47kΩ Resistor   |   3   |
++-----------------+-------+
+| JST-XT Male     |   1   |
+| Battery Plug    |       |
++-----------------+-------+
+| JST-XT Female   |   1   |
+| Battery Plug    |       |
++-----------------+-------+
+| Micro Switch    |   1   |
++-----------------+-------+
+| Dupont Cable    |   9   |
++-----------------+-------+
+| M1.6 Screw      |   22  |
++-----------------+-------+
+| Googly Eyes     |   2   |
++-----------------+-------+
+| Piezo Buzzer    |   1   |
++-----------------+-------+
+
+
+Assembly Instructions
+---------------------
+
+Connect all servos and the UBEC to the servo controller. Connect the UART 3,
+VIN and GND pins of PyBoard to the servo controller with dupont cables.
+
+Solder together the micro switch, JST plugs, dupont cable and the three
+resistors, to make a voltage divider like this:
+
+                          /
+        Bat+             /                 Vout+
+        o---------------+  +---+---------------o
+                               |
+                              +++
+                              | |
+                              | |
+                              +++
+                               |
+                              +++
+                              | |
+                              | |
+                              +++
+                               |             ADC
+                               +---------------o
+                               |
+                              +++
+                              | |
+                              | |
+                              +++
+        Bat-                   |           Vout-
+        o----------------------+---------------o
+
+
+The dupont cable should go to an ADC pin on the PyBoard, the plugs should
+connect to the battery and the UBEC.
+
+Connect the buzzer to a DAC and GND pins on the PyBoard with the dupont cables.
+
+Put everything except for the servos inside the box. Make a hole in the box for
+the servo cables. Make legs out of the servos, screws and servo horns, and
+attach them to the bottom of the box. Make a hole for the switch and edge of
+PyBoard to stick out, so that you have access to the SD card slot and USB
+socket.
+
+Enjoy!