I am currently building a spider like quadruped with 12dof using: Yukon, 12 x Hiwonder LX16A, and a 5800mah 2s lipo for power. The only required modules for the Yukon would be 2 x Serial Servo modules.
Design Goal: remote control with bidirectional communication, send/receive 3 axis input, Error status, and basic telemetry ( battery voltage, current position of feet/body).
Programming Language preferred: Micropython (using most recent stable build for yukon)
What are some options for communication that fits all or part of the listed goals?
nRF24L01+: spi, cheap, not sure of the bandwidth limitations?
ESP32 or ESP8266 co-processor: spi, cheap, seems overkill, and more complicated to implement?
- is there a simple protocol for data over wifi hardware without the need for an existing WAN network?
xbee, zigbee, any UART comms: UART, large price range, no experience…
- the rp2040 only has 2 UART channels, can 2 Serial Servo modules run on a single UART channel? I assume no, but I’m not sure if this is a programming or hardware limitation.
Hobby RC transmitter/reciever: can be very expensive, pwm axis inputs, limited or no telemetry.
Any feedback or insight is appreciated.