diff --git a/2009-fpga/README.md b/2009-fpga/README.md index 5f2f1e0..ce51998 100644 --- a/2009-fpga/README.md +++ b/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.) diff --git a/2011-firefly-mega-ssc32/media/SNC00198.jpg b/2009-fpga/media/SNC00198.jpg similarity index 100% rename from 2011-firefly-mega-ssc32/media/SNC00198.jpg rename to 2009-fpga/media/SNC00198.jpg diff --git a/original-frame/Body.jpg b/2009-fpga/original-frame/Body.jpg similarity index 100% rename from original-frame/Body.jpg rename to 2009-fpga/original-frame/Body.jpg diff --git a/original-frame/README.md b/2009-fpga/original-frame/README.md similarity index 91% rename from original-frame/README.md rename to 2009-fpga/original-frame/README.md index ab0f87f..eec5cc2 100644 --- a/original-frame/README.md +++ b/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 | |---|---|---| diff --git a/original-frame/body.dxf b/2009-fpga/original-frame/body.dxf similarity index 100% rename from original-frame/body.dxf rename to 2009-fpga/original-frame/body.dxf diff --git a/original-frame/bracket.dxf b/2009-fpga/original-frame/bracket.dxf similarity index 100% rename from original-frame/bracket.dxf rename to 2009-fpga/original-frame/bracket.dxf diff --git a/original-frame/hexapod been.dxf b/2009-fpga/original-frame/hexapod been.dxf similarity index 100% rename from original-frame/hexapod been.dxf rename to 2009-fpga/original-frame/hexapod been.dxf diff --git a/original-frame/poot.dxf b/2009-fpga/original-frame/poot.dxf similarity index 100% rename from original-frame/poot.dxf rename to 2009-fpga/original-frame/poot.dxf diff --git a/original-frame/poot2.dwg b/2009-fpga/original-frame/poot2.dwg similarity index 100% rename from original-frame/poot2.dwg rename to 2009-fpga/original-frame/poot2.dwg diff --git a/2011-firefly-mega-ssc32/README.md b/2011-firefly-mega-ssc32/README.md index f741cd9..e0fe9b1 100644 --- a/2011-firefly-mega-ssc32/README.md +++ b/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`. diff --git a/2011-firefly-mega-ssc32/docs/math/wisFORlive.docx b/2011-firefly-mega-ssc32/docs/math/wisFORlive.docx deleted file mode 100644 index 8ec880e..0000000 --- a/2011-firefly-mega-ssc32/docs/math/wisFORlive.docx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e404d387eddd7389d236bd8f24ce9ef2486f9367750ce04c7cb13422cd8fcaa1 -size 21272 diff --git a/2011-firefly-mega-ssc32/docs/math/wisFORlive3.docx b/2011-firefly-mega-ssc32/docs/math/wisFORlive3.docx deleted file mode 100644 index 6c06a13..0000000 --- a/2011-firefly-mega-ssc32/docs/math/wisFORlive3.docx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:055aa42508169f1d30643224f143a9f6666c27cbb658c4004e3f28f240130621 -size 37021 diff --git a/2011-firefly-mega-ssc32/docs/math/wisFORlive4.docx b/2011-firefly-mega-ssc32/docs/math/wisFORlive4.docx deleted file mode 100644 index 48ac9f2..0000000 --- a/2011-firefly-mega-ssc32/docs/math/wisFORlive4.docx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:94cc17870eaf55a3da910af64b483db2cbd40a989f5e00c9589a6bd1b3bbe4bd -size 45407 diff --git a/2011-firefly-mega-ssc32/docs/math/z axis rotation.url b/2011-firefly-mega-ssc32/docs/math/z axis rotation.url deleted file mode 100644 index 3fe9031..0000000 --- a/2011-firefly-mega-ssc32/docs/math/z axis rotation.url +++ /dev/null @@ -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= diff --git a/2009-fpga/media/2011-07-01 22.44.34.png b/2011-firefly-mega-ssc32/media/2011-07-01 22.44.34.png similarity index 100% rename from 2009-fpga/media/2011-07-01 22.44.34.png rename to 2011-firefly-mega-ssc32/media/2011-07-01 22.44.34.png diff --git a/2009-fpga/media/2011-07-01 22.44.50.png b/2011-firefly-mega-ssc32/media/2011-07-01 22.44.50.png similarity index 100% rename from 2009-fpga/media/2011-07-01 22.44.50.png rename to 2011-firefly-mega-ssc32/media/2011-07-01 22.44.50.png diff --git a/2009-fpga/media/MOV02256.MPG b/2011-firefly-mega-ssc32/media/MOV02256.MPG similarity index 100% rename from 2009-fpga/media/MOV02256.MPG rename to 2011-firefly-mega-ssc32/media/MOV02256.MPG diff --git a/2009-fpga/media/MOV02257.MPG b/2011-firefly-mega-ssc32/media/MOV02257.MPG similarity index 100% rename from 2009-fpga/media/MOV02257.MPG rename to 2011-firefly-mega-ssc32/media/MOV02257.MPG diff --git a/2009-fpga/media/MOV02258.MPG b/2011-firefly-mega-ssc32/media/MOV02258.MPG similarity index 100% rename from 2009-fpga/media/MOV02258.MPG rename to 2011-firefly-mega-ssc32/media/MOV02258.MPG diff --git a/2009-fpga/media/MOV02259.MPG b/2011-firefly-mega-ssc32/media/MOV02259.MPG similarity index 100% rename from 2009-fpga/media/MOV02259.MPG rename to 2011-firefly-mega-ssc32/media/MOV02259.MPG diff --git a/2026-current/CLAUDE.md b/2026-current/CLAUDE.md index 585345f..1d288d0 100644 --- a/2026-current/CLAUDE.md +++ b/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. diff --git a/README.md b/README.md index aaab8ca..d08f5ae 100644 --- a/README.md +++ b/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 |