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

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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.
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mangavalk committed 2026-10-25 17:47:05 +01:00
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2026-current/robot/Config.h
+2 -2
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@@ -56,7 +56,7 @@ struct ServoCal {
int16_t us_min, us_max; 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 // drove each servo with PWMServo: a command of 0..180 maps linearly onto
// min..max microseconds (servoMin/servoMax + servoCallibration trim). The // min..max microseconds (servoMin/servoMax + servoCallibration trim). The
// command for a joint angle is zero + dir * joint_deg + offset, where // command for a joint angle is zero + dir * joint_deg + offset, where
@@ -111,7 +111,7 @@ constexpr float CONTROL_HZ = 60.0f;
// ---- Radio (nRF24L01) ---- // ---- Radio (nRF24L01) ----
// Address/channel/data rate/PA/payload size live in shared/HexapodProtocol // 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. // 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 // MISO 12 with SCK moved to its alternate pin 14 (Teensy 3.x), so pin 13
// stays free. // stays free.
constexpr uint8_t RADIO_CE_PIN = 39; constexpr uint8_t RADIO_CE_PIN = 39;
2026-current/robot/README.md
+2 -2
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@@ -8,7 +8,7 @@ sketches compile against.
## Building ## 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`. `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 RF24 is pulled in automatically via `lib_deps`. Servos are driven by the
Teensy's hardware PWM directly, so no servo library is needed. 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. width.
- `SERVOS`: one entry per servo with pin, pulse at 0°, signed µs per - `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 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 directions from the old Unity servo mapping. Check every joint's
direction on the bench. direction on the bench.
- **Before powering up:** re-mount the rear-left and front-left coxa servo - **Before powering up:** re-mount the rear-left and front-left coxa servo