This is the code for my 12 + 2 DOF Hexapod. It is written with Visual Studio Code and PlatformIO.
Don´t expect this to run on your system. There are some dependencies to other librarys you probably don´t have. I uploaded it anyway because maybe some Ideas in my code are helpfull for others programming a 12 DOF robot.
The 3D parts of the robot on Thingiverse: https://www.thingiverse.com/thing:4445160