On a slightly brighter note, after two days of gloom and staring at my HexEngine code, I have made some progress on some additional reflexes in the terrain adaptation of the hexapod, which I have been simulating within Webots. Still have a long way to go.. but it is progress!
Also I reduced the simulated weight and torque of the machine by half, which has helped the sinking issue.
Just been taking a look at MCA2, looks like an interesting machine control/interface system, may take a closer look to see if it would be suitable to convert/port the HexEngine, however this would probably be a massive task that I should probably leave to a later date.
