Remote: match the old remote's hardware; old remote code in LEGACY

- LEGACY/remote/teensy/: old remote sketch from
  https://mangavalk.com/Hexapod/remote.git @ 492dece (reference only).
- remote/Config.h: sticks on A0-A5, Nextion on Serial1 (0/1), as in the
  old sketch; MPU6050 moved to Wire2 (25/24) since A4/A5 are Wire's pins.
- NextionUI: controls on a vscope-global "control" page added to the
  old HMI; keeps the old t1 status texts; the old page-1 b2 button (and
  serial 'U') enter Nextion upload passthrough, following the PC's baud.
- Docs: NEXTION.md, remote README wiring, CLAUDE.md.

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

2026-current/LEGACY/remote/teensy/Joysticks.h

@@ -0,0 +1,127 @@
+#include <EEPROM.h>
+
+// start reading from the first byte (address 0) of the EEPROM
+unsigned int address = 0;
+byte value;
+
+// Joystick vars
+const int analogInPin = A0;
+
+int sensorValue = 0;
+int outputValue = 0;
+
+//volatile int center[6] = {0, 0, 0, 0, 0, 0};
+//volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //ARDUINO
+//volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //ARDUINO
+int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //TEENSY
+int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //TEENSY
+
+void JoystickInit()
+{
+  // Initialize joysticks first
+  value = EEPROM.read(address);
+
+  if (value != 0)
+  {
+    address++;
+    for (int i = 0; i < 6; i++)
+    {
+      address += sizeof(int);
+      EEPROM.get(address, minvalue[i]);
+      address += sizeof(int);
+      EEPROM.get(address, maxvalue[i]);
+      //      Serial.println(minvalue[i]);
+      //      Serial.println(maxvalue[i]);
+    }
+  }
+  else
+  {
+    // if eeprom empty
+    delay(500);
+
+    //    for (int i = 0; i < 6; i++)
+    //    {
+    //      center[i] = analogRead(analogInPin + i);
+    //    }
+
+    int time = 10000;
+    while (millis() < time)
+    {
+      for (int i = 0; i < 6; i++)
+      {
+        sensorValue = analogRead(analogInPin + i);
+        if (sensorValue > maxvalue[i]) {
+          maxvalue[i] = sensorValue;
+        }
+        if (sensorValue < minvalue[i]) {
+          minvalue[i] = sensorValue;
+        }
+      }
+    }
+
+    //  for (int i = 0; i < 6; i++)
+    //  {
+    //    minvalue[i] = center[i] - minvalue[i];
+    //    maxvalue[i] = (maxvalue[i] - center[i]);
+    //  }
+
+    // write callibration to eeprom
+    address = 0;
+    EEPROM.write(address, 1);
+
+    address++;
+    for (int i = 0; i < 6; i++)
+    {
+      address += sizeof(int);
+      EEPROM.put(address, minvalue[i]);
+      address += sizeof(int);
+      EEPROM.put(address, maxvalue[i]);
+      //      Serial.println(minvalue[i]);
+      //      Serial.println(maxvalue[i]);
+    }
+  }
+}
+
+struct joyStickdataStruct {
+  float value[6];
+} myJoyStickdataStruct;
+
+joyStickdataStruct JoystickGet(bool debug = false)
+{
+  for (int i = 0; i < 6; i++)
+  {
+    sensorValue = analogRead(analogInPin + i);
+
+    if (sensorValue > maxvalue[i])
+      maxvalue[i] = sensorValue;
+    if (sensorValue < minvalue[i])
+      minvalue[i] = sensorValue;
+
+    outputValue = map(sensorValue, minvalue[i], maxvalue[i], 0, 255);
+    outputValue = sensorValue > maxvalue[i] ? 255 : sensorValue < minvalue[i] ? 0 : outputValue;
+    //    if (sensorValue <= center[i])
+    //    {
+    //      outputValue = map(sensorValue, minvalue[i], center[i], 0, 127);
+    //    }
+    //    else
+    //    {
+    //      outputValue = map(sensorValue, center[i], maxvalue[i], 128, 255);
+    //    }
+
+    myJoyStickdataStruct.value[i] = outputValue;
+
+    if (debug)
+    {
+      Serial.print(i);
+      Serial.print("_");
+      Serial.print(myJoyStickdataStruct.value[i]);
+      if (i != 5)
+        Serial.print(",");
+      //    Serial.print(" ");
+    }
+  }
+  if (debug)
+    Serial.println();
+
+  return myJoyStickdataStruct;
+}