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/robot.ino
+8 -11
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@@ -36,10 +36,11 @@ void pollSerialTestInput() {
switch (c) {
case 'a': test_packet.flags ^= FLAG_ARMED; break;
case 's': test_packet.flags ^= FLAG_STAND; break;
case 'w': test_packet.vy = min(test_packet.vy + 200, 1000); test_packet.flags |= FLAG_WALK; break;
case 'x': test_packet.vy = max(test_packet.vy - 200, -1000); test_packet.flags |= FLAG_WALK; break;
case 'q': test_packet.vx = max(test_packet.vx - 200, -1000); test_packet.flags |= FLAG_WALK; break;
case 'e': test_packet.vx = min(test_packet.vx + 200, 1000); test_packet.flags |= FLAG_WALK; break;
// vx = forward (+X), vy = strafe left (+Y) - see HexapodProtocol.h axis convention.
case 'w': test_packet.vx = min(test_packet.vx + 200, 1000); test_packet.flags |= FLAG_WALK; break;
case 'x': test_packet.vx = max(test_packet.vx - 200, -1000); test_packet.flags |= FLAG_WALK; break;
case 'q': test_packet.vy = min(test_packet.vy + 200, 1000); test_packet.flags |= FLAG_WALK; break;
case 'e': test_packet.vy = max(test_packet.vy - 200, -1000); test_packet.flags |= FLAG_WALK; break;
case 'z': test_packet.yaw_rate = max(test_packet.yaw_rate - 200, -1000); test_packet.flags |= FLAG_WALK; break;
case 'c': test_packet.yaw_rate = min(test_packet.yaw_rate + 200, 1000); test_packet.flags |= FLAG_WALK; break;
case 'g': test_packet.flags ^= FLAG_GAIT_WAVE; break;
@@ -108,13 +109,9 @@ void loop() {
gait.setRequestedPattern(mapped.gait_wave ? &GAIT_WAVE : &GAIT_TRIPOD);
// Remote-gyro toggle off -> drop commanded tilt but keep XYZ offset/height.
PoseCommand pose_cmd = mapped.pose;
if (!mapped.remote_gyro_enabled) {
pose_cmd.roll_deg = 0;
pose_cmd.pitch_deg = 0;
}
pose.setCommand(pose_cmd);
// Stick pose + remote-tilt feedforward (gated on FLAG_REMOTE_GYRO) are
// already combined in InputMapper.
pose.setCommand(mapped.pose);
pose.setCorrection(mapped.robot_gyro_enabled ? -imu.rollDeg() : 0,
mapped.robot_gyro_enabled ? -imu.pitchDeg() : 0);
pose.update(dt);