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>
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@@ -0,0 +1,234 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Walk : MonoBehaviour
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{
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public List<GameObject> legs = new List<GameObject>();
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private List<Vector3> legsInitial = new List<Vector3>();
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// Use this for initialization
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void Start()
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{
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for (int index = 0; index < legs.Count; ++index)
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{
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legsInitial.Add(legs[index].GetComponent<Leg>().point);
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step2.Add(0);
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step6.Add(false);
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//step3.Add(0);
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//step4.Add(new Vector3(0, 0, 0));
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step5.Add(new Vector3());
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freeze.Add(false);
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freeze_y.Add(false);
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}
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}
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struct step
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{
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public Vector3 pos;
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public float rotation;
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public float height;
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public bool inAir;
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public bool inRest;
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public step(Vector3 p, float r, float h, bool i, bool ir)
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{
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pos = p;
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rotation = r;
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height = 0;
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inAir = i;
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inRest = ir;
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}
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}
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// 1, 3, 5 -= 3
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int offset(int i, int offset, int max)
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{
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return i - offset < 0 ? (max - (offset - i)) : i - offset;
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}
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step[] s = {
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new step(new Vector3(-1, 0, 0), -1, 0, false, false),
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new step(new Vector3(0, -2, 0), 0, 0, false, false),
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new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
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new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle
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new step(new Vector3(1, 0, 0), 1, 0, false, false),
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new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
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new step(new Vector3(0, 2, 0), 0, 0, false, false),
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new step(new Vector3(-1, 0, 0), -1, 0, true, false),
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};
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public int st = 5;
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public int speed2 = 30;
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int speed = 10;
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public float walkDirection = 0;
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public float centerRotation = 0;
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int size = 8;
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public float walkspeed = 1;
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private List<float> step2 = new List<float>();
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//private List<float> step3 = new List<float>();
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//private List<Vector3> step4 = new List<Vector3>();
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private List<Vector3> step5 = new List<Vector3>();
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private List<bool> step6 = new List<bool>();
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private List<bool> freeze = new List<bool>();
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private List<bool> freeze_y = new List<bool>();
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// Update is called once per frame
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void FixedUpdate()
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{
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if (speed <= 0)
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{
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if (st >= size - 1)
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st = 0;
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else
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{
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st++;
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if (centerRotation == 0 && walkspeed == 0)
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{
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for (int index = 0; index < legs.Count; index++)
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{
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int t = st;
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if (index == 1 || index == 3 || index == 5)
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{
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t = offset(st, 4, size);
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}
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if (s[t].inRest)
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{
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Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos(); // + s[t].pos;
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//lp.y -= 2;
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if ((Mathf.Abs(lp.y - (legsInitial[index].y - 2)) < 0.0001f)
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&& (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f)
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&& (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
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{
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freeze[index] = true;
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freeze_y[index] = true;
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}
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}
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/*else
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{
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freeze[index] = false;
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}*/
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}
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}
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else
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{
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for (int index = 0; index < legs.Count; index++)
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{
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freeze[index] = false;
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}
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}
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}
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for (int index = 0; index < legs.Count; ++index)
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{
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int t = st;
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if (true)
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{
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// Hex walk
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if (index == 1 || index == 3 || index == 5)
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{
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t = offset(st, 4, size);
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}
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}
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else
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{
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// One leg at a time walk
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switch (index)
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{
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case 0:
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t = offset(st, 0, size);
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break;
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case 1:
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t = offset(st, 4, size);
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break;
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case 2:
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t = offset(st, 2, size);
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break;
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case 3:
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t = offset(st, 3, size);
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break;
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case 4:
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t = offset(st, 1, size);
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break;
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case 5:
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t = offset(st, 5, size);
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break;
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}
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}
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if (!freeze[index])
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{
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if (s[t].inAir == false)
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{
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step2[index] = (centerRotation * s[t].rotation) / speed2;
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Vector3 t2 = s[t].pos;
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t2.x *= walkspeed;
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// rotate x,y around rotation.
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if (freeze_y[index])
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{
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t2.y = 0;
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}
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step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
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step6[index] = true;
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}
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else
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{
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Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
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step5[index] = t2 / speed2;
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step6[index] = false;
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freeze_y[index] = false;
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}
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}
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else
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{
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step5[index] = new Vector3(0, 0, 0);
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step6[index] = false;
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}
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}
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speed = speed2;
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}
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else
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{
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speed--;
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makestep();
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}
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}
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void makestep()
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{
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for (int index = 0; index < legs.Count; ++index)
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{
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legs[index].GetComponent<Leg>().point += step5[index];
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if (step6[index])
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{
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//legs[index].GetComponent<Leg>().point += step5[index];
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// rotate x,y around rotation.
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legs[index].GetComponent<Leg>().setWorldPos(
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Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
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);
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}
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}
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}
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}
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