Firmware simulation, Unity project, and sim-verified robot fixes

Simulation - sim/: the unchanged robot firmware compiled into hexapod_sim.dll against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050, RF24 with matching-config radio), a kinematic body model (support plane + planted-foot odometry) that also drives the simulated IMU, and a headless smoke test (sim_smoke). build.ps1 builds and tests. - Hexapod_Simulation_Unity/ folded in (history kept in a bundle outside the repo). Assets/HexapodSim loads the DLL, drives the existing leg rig, and offers joystick / keyboard / robot-serial input plus a test panel. Robot (all found or confirmed in the simulation) - Config.h geometry taken from the Unity model. - IK femur elevation sign, gait stance direction, body pose rotation direction, yaw lever arm. - Stance feet integrated from the current command; gait restarts at mid-stance; heading integrates the applied turn rate, only while walking. - Leg clearance and reach checks (Limits::feetFeasible); walk command and body pose scaled as a whole, pose scale rate-limited, planted feet guarded so the body never snaps or legs collide. - Robot-gyro self-leveling as an integrator. - Heading mode: steering relative to the body; S walks backward. - Standing height from the remote (STANCE_HEIGHT_RANGE_MM). Protocol v3 (reflash both boards) - CmdPacket gains body_height (22 bytes). Remote - Height slider (Nextion hHeight/nHeight, serial [ ]). - Fixed unspecified I2C read order in RemoteIMU. LEGACY/: owner's old Nextion HMI and remote hardware assets. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
2026-09-29 00:37:12 +02:00
1 parent 91dac16fca
commit 935526eab5
@@ -0,0 +1,90 @@
+fileFormatVersion: 2
+guid: a1e8415cfe85469f9aa0aea941166031
+labels:
+- gvh
+- gvh_targets-editor
+- gvh_version-1.2.135.0
+PluginImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  iconMap: {}
+  executionOrder: {}
+  defineConstraints: []
+  isPreloaded: 0
+  isOverridable: 0
+  isExplicitlyReferenced: 0
+  validateReferences: 0
+  platformData:
+  - first:
+      : Any
+    second:
+      enabled: 0
+      settings:
+        Exclude Android: 1
+        Exclude Editor: 0
+        Exclude Linux64: 1
+        Exclude OSXUniversal: 1
+        Exclude Win: 1
+        Exclude Win64: 1
+        Exclude iOS: 1
+  - first:
+      Android: Android
+    second:
+      enabled: 0
+      settings:
+        CPU: ARMv7
+  - first:
+      Any: 
+    second:
+      enabled: 0
+      settings: {}
+  - first:
+      Editor: Editor
+    second:
+      enabled: 1
+      settings:
+        CPU: AnyCPU
+        DefaultValueInitialized: true
+        OS: OSX
+  - first:
+      Standalone: Linux64
+    second:
+      enabled: 0
+      settings:
+        CPU: x86_64
+  - first:
+      Standalone: OSXUniversal
+    second:
+      enabled: 0
+      settings:
+        CPU: None
+  - first:
+      Standalone: Win
+    second:
+      enabled: 0
+      settings:
+        CPU: x86
+  - first:
+      Standalone: Win64
+    second:
+      enabled: 0
+      settings:
+        CPU: x86_64
+  - first:
+      Windows Store Apps: WindowsStoreApps
+    second:
+      enabled: 0
+      settings:
+        CPU: AnyCPU
+  - first:
+      iPhone: iOS
+    second:
+      enabled: 0
+      settings:
+        AddToEmbeddedBinaries: false
+        CPU: AnyCPU
+        CompileFlags: 
+        FrameworkDependencies: 
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,37 @@
+fileFormatVersion: 2
+guid: 97738b29c18143b0a469277b09d35889
+labels:
+- gvh
+- gvh_targets-editor
+- gvh_version-1.2.135.0
+PluginImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  iconMap: {}
+  executionOrder: {}
+  defineConstraints: []
+  isPreloaded: 0
+  isOverridable: 0
+  isExplicitlyReferenced: 0
+  validateReferences: 1
+  platformData:
+  - first:
+      Any: 
+    second:
+      enabled: 0
+      settings: {}
+  - first:
+      Editor: Editor
+    second:
+      enabled: 1
+      settings:
+        DefaultValueInitialized: true
+  - first:
+      Windows Store Apps: WindowsStoreApps
+    second:
+      enabled: 0
+      settings:
+        CPU: AnyCPU
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,37 @@
+fileFormatVersion: 2
+guid: bb6999c8a5ce4ba99688ec579babe5b7
+labels:
+- gvh
+- gvh_targets-editor
+- gvh_version-1.2.135.0
+PluginImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  iconMap: {}
+  executionOrder: {}
+  defineConstraints: []
+  isPreloaded: 0
+  isOverridable: 0
+  isExplicitlyReferenced: 0
+  validateReferences: 1
+  platformData:
+  - first:
+      Any: 
+    second:
+      enabled: 0
+      settings: {}
+  - first:
+      Editor: Editor
+    second:
+      enabled: 1
+      settings:
+        DefaultValueInitialized: true
+  - first:
+      Windows Store Apps: WindowsStoreApps
+    second:
+      enabled: 0
+      settings:
+        CPU: AnyCPU
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,37 @@
+fileFormatVersion: 2
+guid: 369cd88e7aa04bd98e0f6c229f7c1510
+labels:
+- gvh
+- gvh_targets-editor
+- gvh_version-1.2.135.0
+PluginImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  iconMap: {}
+  executionOrder: {}
+  defineConstraints: []
+  isPreloaded: 0
+  isOverridable: 0
+  isExplicitlyReferenced: 0
+  validateReferences: 1
+  platformData:
+  - first:
+      Any: 
+    second:
+      enabled: 0
+      settings: {}
+  - first:
+      Editor: Editor
+    second:
+      enabled: 1
+      settings:
+        DefaultValueInitialized: true
+  - first:
+      Windows Store Apps: WindowsStoreApps
+    second:
+      enabled: 0
+      settings:
+        CPU: AnyCPU
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,4 @@
+Assets/PlayServicesResolver/Editor/Google.IOSResolver.dll
+Assets/PlayServicesResolver/Editor/Google.JarResolver.dll
+Assets/PlayServicesResolver/Editor/Google.VersionHandler.dll
+Assets/PlayServicesResolver/Editor/Google.VersionHandlerImpl.dll
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 85ae9201cbc641ffa2fa8aab6c5e9093
+labels:
+- gvh
+- gvh_manifest
+- gvh_version-1.2.135.0
+TextScriptImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: