Hexapod/hexapod-robot
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Draft: shared protocol, remote firmware, project docs

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Not yet verified on hardware.

- shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll /
  remote_pitch), FLAG_* bits and radio settings as the single protocol
  definition; static payload size = sizeof(CmdPacket) on both radios.
- robot: use the shared protocol; vx = forward (harness w/x <-> q/e);
  InputMapper adds remote tilt on top of the right stick when
  FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick
  roll/pitch when it's off.
- remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU,
  RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder,
  RadioLink, NextionUI, SerialConsole.
- CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
mangavalkandClaude Opus 5.5 committed 2026-09-28 18:14:00 +02:00
1 parent ad77b06c36
commit 91dac16fca
30 files changed
+1706 -57
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2026-current/robot/Config.h
+2 -1
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@@ -49,9 +49,10 @@ constexpr float SWING_LIFT_MM = 35.0f;
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.
constexpr uint8_t RADIO_CE_PIN = 33;
constexpr uint8_t RADIO_CSN_PIN = 34;
constexpr uint8_t RADIO_ADDRESS[6] = "HXPD1"; // must match the remote once it exists
constexpr float LINK_TIMEOUT_SEC = 0.3f;
// ---- Setpoint smoothing rates ----