Robot: Teensy 3.6 with the old robot's servo wiring and calibration

- LEGACY/Hexapod_Teensy/: old robot sketch (reference only).
- platformio.ini: robot env targets teensy36 (owner-confirmed board).
- Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed
  us/deg, pulse limits) built from the old sketch's pins, ranges, trims
  and the old Unity servo directions. Rear-left/front-left coxa offsets
  set to 0: the owner re-horns those two servos (the old +-90 left them
  at the end of travel; the sim showed them clamping).
- ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6
  Servo library stops at 12.
- Radio on CE 39 / CSN 15 with SPI SCK on pin 14.
- sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6).
- Docs: CLAUDE.md, READMEs.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

2026-current/LEGACY/Hexapod_Teensy/config.h

@@ -0,0 +1,44 @@
+byte pins[18] = {4, 3, 2,
+                 7, 6, 5,
+                 10, 9, 8,
+
+                 23, 22, 21,
+                 20, 36, 37,
+                 17, 16, 38
+                };
+
+int servoMin[18] = {553, 840, 553,
+                    553, 840, 553,
+                    553, 840, 553,
+
+                    553, 840, 553,
+                    553, 840, 553,
+                    553, 840, 553
+                   };
+
+int servoMax[18] = {2425, 2050, 2425,
+                    2425, 2050, 2425,
+                    2425, 2050, 2425,
+
+                    2425, 2050, 2425,
+                    2425, 2050, 2425,
+                    2425, 2050, 2425
+                   };
+
+int servoCallibration[18] = {0, 100, 0,
+                             0, 100, -30,
+                             0, 80, -50,
+
+                             -120, 0, 0,
+                             -10, 20, 0,
+                             0, 20, -80
+                            };
+
+float servoOffset[18] = {0, 0, 0,
+                         0, 0, 0,
+                         0, 0, 0,
+
+                         90, 0, 0,
+                         0, 0, 0,
+                         -90, 0, 0
+                        };