2026-09-28 18:14:00 +02:00
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# Hexapod
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2026-10-01 15:53:55 +02:00
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A six-legged walking robot (Teensy 3.6) and its handheld remote
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2026-09-28 18:14:00 +02:00
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(Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
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```
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2026-09-29 00:37:12 +02:00
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robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
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remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
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shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
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sim/ the unchanged robot firmware compiled into a DLL for the simulation
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Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
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2026-10-25 17:30:35 +01:00
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hardware/fusion360/ Fusion 360 designs: body, legs, servo, servo horn, remote case
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2026-09-29 00:37:12 +02:00
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scripts/ PlatformIO helper (per-environment sketch folder)
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2026-09-28 18:14:00 +02:00
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```
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2026-10-25 17:30:35 +01:00
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This is the `2026-current/` folder of the hexapod-robot repo; the earlier
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generations (2009 onwards) are in the folders next to it, see
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[../README.md](../README.md).
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2026-09-28 18:14:00 +02:00
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## Build (PlatformIO)
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```
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pio run # build both
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pio run -e robot -t upload
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pio run -e remote -t upload
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pio device monitor -e robot
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```
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2026-09-29 00:37:12 +02:00
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## Simulation
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2026-10-25 17:30:35 +01:00
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From this `2026-current` folder in PowerShell (the dev PC is Windows):
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2026-09-29 00:37:12 +02:00
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```
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.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
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```
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Then open `Hexapod_Simulation_Unity` and press Play. See
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[sim/README.md](sim/README.md).
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2026-09-28 18:14:00 +02:00
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## Where to go next
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- **[robot/README.md](robot/README.md)**: placeholder geometry to measure,
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the bench-check checklist, and the serial test harness for driving the
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robot without a remote.
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- **[remote/README.md](remote/README.md)**: wiring, control scheme, stick
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calibration, and the remote's serial console.
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- **[remote/NEXTION.md](remote/NEXTION.md)**: how to build the touchscreen
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HMI.
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- **[shared/HexapodProtocol/HexapodProtocol.h](shared/HexapodProtocol/HexapodProtocol.h)**:
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the protocol. Change it only by reflashing both boards.
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