robot/: point the old-sketch references to 2019-teensy-nrf24/Hexapod_Teensy

Comments in Config.h and the README referred to LEGACY/, which is folded into the generation folders. Also 'from the repo root' -> 'from the 2026-current folder'. Comment and documentation changes only; approved by the owner.

2026-current/robot/Config.h

@@ -56,7 +56,7 @@ struct ServoCal {
   int16_t us_min, us_max;
 };
 
-// Built from the old robot sketch (LEGACY/Hexapod_Teensy/config.h), which
+// Built from the old robot sketch (2019-teensy-nrf24/Hexapod_Teensy/config.h), which
 // drove each servo with PWMServo: a command of 0..180 maps linearly onto
 // min..max microseconds (servoMin/servoMax + servoCallibration trim). The
 // command for a joint angle is  zero + dir * joint_deg + offset, where
@@ -111,7 +111,7 @@ constexpr float CONTROL_HZ = 60.0f;
 // ---- Radio (nRF24L01) ----
 // Address/channel/data rate/PA/payload size live in shared/HexapodProtocol
 // so the robot and remote can't drift apart. Only this board's wiring is here.
-// From the old robot sketch (LEGACY/Hexapod_Teensy/Nrf.h): SPI on MOSI 11 /
+// From the old robot sketch (2019-teensy-nrf24/Hexapod_Teensy/Nrf.h): SPI on MOSI 11 /
 // MISO 12 with SCK moved to its alternate pin 14 (Teensy 3.x), so pin 13
 // stays free.
 constexpr uint8_t RADIO_CE_PIN     = 39;

2026-current/robot/README.md

@@ -8,7 +8,7 @@ sketches compile against.
 
 ## Building
 
-From the repo root (PlatformIO): `pio run -e robot`, flash with
+From the `2026-current` folder (PlatformIO): `pio run -e robot`, flash with
 `pio run -e robot -t upload`, monitor with `pio device monitor -e robot`.
 RF24 is pulled in automatically via `lib_deps`. Servos are driven by the
 Teensy's hardware PWM directly, so no servo library is needed.
@@ -33,7 +33,7 @@ still a placeholder. Check all of it against the real robot:
   width.
 - `SERVOS`: one entry per servo with pin, pulse at 0°, signed µs per
   degree (sign = direction) and pulse limits. It's prefilled from the old
-  robot sketch (`LEGACY/Hexapod_Teensy/config.h`): pins, ranges, trims, and
+  robot sketch (`../../2019-teensy-nrf24/Hexapod_Teensy/config.h`): pins, ranges, trims, and
   directions from the old Unity servo mapping. Check every joint's
   direction on the bench.
 - **Before powering up:** re-mount the rear-left and front-left coxa servo