Mechanics completed, via REST endpoints the pi4j Spring Boot implementation executes simple commands, like stand up and tilt on each leg.

Current consumption calculation for PI GPIO:

10mA Raspberry PI servo hat

12 x 350µA for adxl 335 accelerometers 8400 µA 0 4,2 milli Ampere


The operating voltage of the GPIO pins is 3.3v with a maximum current draw of 16mA