Owner's reorganisation: frame into 2009-fpga, media regrouped, old math versions removed

- original-frame/ moves into 2009-fpga/original-frame/ (the FPGA version introduced the frame).
- Media regrouped by the owner: the two 2011-07-01 PNGs and MOV02256-02259 to FireFly, SNC00198.jpg to the FPGA version.
- Removed from the current version (still in the history): docs/math wisFORlive.docx, wisFORlive3.docx, wisFORlive4.docx and 'z axis rotation.url'.
- READMEs, 2026-current/CLAUDE.md and the root timeline updated to match.

2009-fpga/README.md

@@ -1,9 +1,10 @@
 # 2009–2011: the FPGA version
 
-The first hexapod, built on the original frame (`../original-frame/`) and driven by an FPGA.
-The FPGA code has not survived; what is left are the photos and videos in `media/`, among them
-`hexapod film 18-11-09.wmv`.
+The first hexapod, driven by an FPGA. Its frame, `original-frame/`, was the mechanical base of every
+version up to 2023. The FPGA code has not survived; what is left are the photos and videos in `media/`,
+among them `hexapod film 18-11-09.wmv`.
 
-`media/` holds every hexapod photo and video created on or before 2 November 2011 20:44:07; everything later
-is in `../2011-firefly-mega-ssc32/media/`. (Most dates are copy dates, so the split follows the owner's check
-of the files, not the exact moment each photo was taken. `DSCF*` photos carry a camera date of 2003.)
+- `original-frame/` – the leg, body and bracket designs (DXF/DWG, 2009–2011).
+- `media/` – photos and videos of the FPGA version, sorted by the owner; those of the FireFly version are in
+  `../2011-firefly-mega-ssc32/media/`. (Most file dates are copy dates. `DSCF*` photos carry a camera date
+  of 2003.)

2009-fpga/original-frame/README.md

@@ -1,7 +1,7 @@
 # Original frame (2009–2023)
 
 The mechanical design every version up to 2023 was built on. The 2026 robot has a new design, see
-`../2026-current/hardware/fusion360/`.
+`../../2026-current/hardware/fusion360/`.
 
 | File | Date | What |
 |---|---|---|

2011-firefly-mega-ssc32/README.md

@@ -1,7 +1,7 @@
 # 2011–2012: FireFly (Arduino Mega + SSC-32)
 
 In June 2011 the robot was rebuilt around an Arduino Mega 2560 and a Lynxmotion SSC-32 servo controller,
-with a new body and bracket (`../original-frame/`). The Mega does the inverse kinematics and sends
+with a new body and bracket (`../2009-fpga/original-frame/`). The Mega does the inverse kinematics and sends
 `#n Pxxxx Txxx` commands to the SSC-32 over `Serial1` at 38400 baud. The serial banner calls it "FireFly".
 
 ## firmware/
@@ -20,9 +20,9 @@ Each folder is an Arduino sketch (or library); successive versions are successiv
 ## Other folders
 
 - `hardware/` – the Arduino Mega 2560 (SparkFun DEV-09949) and SSC-32 photos of June 2011, `Layout Hexapod.jpg`.
-- `docs/math/` – the IK and body-rotation derivations (`[1]`–`[5]`, the original `wisFORlive*.docx` versions, IK.pdf as `Movement Space Leg.pdf`).
+- `docs/math/` – the IK and body-rotation derivations (`[1]`–`[5]`, `Hexapod draaien Y as.png`, IK.pdf as `Movement Space Leg.pdf`). Older versions (`wisFORlive*.docx`) are in the history.
 - `docs/planning/` – workflow and to-do documents (2012).
 - `docs/research/` – papers on hexapod workspace and Q-learning, GPS module and TinyGPS manuals.
 - `docs/concepts/` – inspiration images and early sketches (2008–2012).
 - `tools/` – two small Windows programs from November 2011 (`hexapod 1.0.exe`, `hexapod Source 0.2.exe`); what they do is not known.
-- `media/` – photos and videos created after 2 November 2011 20:44:07, incl. `Hexapod 29-11-11.wmv`.
+- `media/` – photos and videos of the FireFly version, sorted by the owner, incl. `Hexapod 29-11-11.wmv`.

2011-firefly-mega-ssc32/docs/math/z axis rotation.url

@@ -1,5 +0,0 @@
-[{000214A0-0000-0000-C000-000000000046}]
-Prop3=19,11
-[InternetShortcut]
-URL=https://www.siggraph.org/education/materials/HyperGraph/modeling/mod_tran/3drota.htm
-IDList=

2026-current/CLAUDE.md

@@ -400,7 +400,7 @@ Remote (`remote/README.md` has detail):
   first even then. Flag suspected robot bugs instead of fixing them. To
   try a robot fix, copy `robot/ shared/ sim/` to a scratch dir, patch the
   copy and run `sim_smoke` there.
-- The older generations (`../20xx-*/`, `../original-frame/`) are reference
+- The older generations (`../20xx-*/`, incl. `../2009-fpga/original-frame/`) are reference
   material from the owner. Don't modify them.
 - Protocol changes go in `shared/HexapodProtocol/` only. Update the size
   `static_assert`, this file's contract table, and both READMEs.

README.md

@@ -10,8 +10,7 @@ named after the year it started, with its firmware, simulation, hardware, docume
 
 | Folder | When | Hardware | What it did |
 |---|---|---|---|
-| [`original-frame/`](original-frame/) | 2009–2023 | own leg and body design (DXF/DWG) | the frame every version up to 2023 was built on (legs 2009, body and bracket 2011) |
-| [`2009-fpga/`](2009-fpga/) | 2009–2011 | FPGA | the first version. The code is lost; only photos and videos are left |
+| [`2009-fpga/`](2009-fpga/) | 2009–2011 | FPGA, own frame design | the first version. The code is lost; photos, videos and the frame design (`original-frame/`, the base of every version up to 2023) are left |
 | [`2011-firefly-mega-ssc32/`](2011-firefly-mega-ssc32/) | 2011–2012 | Arduino Mega 2560 + Lynxmotion SSC-32 | "FireFly": walking sequences with a Wii Nunchuk, later IR remote, ultrasonic radar head and GPS |
 | [`2012-simulation/`](2012-simulation/) | 2012–2014 | PC | a Visual Studio leg-IK visualiser (2012) and a Processing 3D simulator (2014) |
 | [`2014-ik-core-task-queue/`](2014-ik-core-task-queue/) | ≤ Feb 2014 | Arduino | a rewrite of the IK core around a task queue, without servo output yet |