Initial import: robot firmware + PlatformIO two-env scaffold
Robot-side firmware (Teensy 4.0) imported unchanged as extracted. platformio.ini defines [env:robot] (teensy40) and [env:remote] (teensy41); scripts/select_src_dir.py points each env at its own sketch folder so robot/ and remote/ stay Arduino-style sketches. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
mangavalkandClaude Opus 5.5 committed
commit
ad77b06c36
27 files changed
+1107
No files matched your search
@@ -0,0 +1,113 @@
|
||||
# Hexapod robot firmware (Teensy 4.0)
|
||||
|
||||
This is the **robot-side** firmware only. It is fully functional on its own
|
||||
(driven by the serial test harness below) and is already wired to receive
|
||||
commands from a future remote over nRF24L01 — the packet format in
|
||||
`Comms.h` is the contract the remote sketch must match.
|
||||
|
||||
## Required libraries
|
||||
|
||||
Install via Arduino Library Manager (or Teensyduino's manager):
|
||||
|
||||
- **RF24** by TMRh20 — nRF24L01 radio driver
|
||||
- **Servo** — bundled with Teensyduino, nothing to install
|
||||
|
||||
## Before you trust this on the floor
|
||||
|
||||
Everything in `Config.h` is a placeholder for a generic small hexapod. Measure
|
||||
your own robot and edit:
|
||||
|
||||
- `LEG_MOUNT_ANGLE_DEG` / `LEG_MOUNT_X_MM` / `LEG_MOUNT_Y_MM` — where each
|
||||
coxa pivot actually sits on your chassis, and which way it points
|
||||
- `COXA_LEN_MM` / `FEMUR_LEN_MM` / `TIBIA_LEN_MM` — your link lengths
|
||||
- `COXA_MIN_DEG..TIBIA_MAX_DEG` — your servos' real safe range of motion
|
||||
- `STANCE_RADIUS_MM` / `STANCE_HEIGHT_MM` — how far out/down you want the
|
||||
resting foot position
|
||||
- `SERVO_PINS` — must be PWM-capable pins on your Teensy 4.0 wiring
|
||||
- `SERVO_US_AT_0DEG` / `SERVO_US_PER_DEG` — calibrate per servo, they vary
|
||||
batch to batch
|
||||
- `RADIO_ADDRESS` / channel (set in `Comms.cpp`) — must match the remote
|
||||
once it exists
|
||||
|
||||
## Bench-check checklist (do this before the first stand-up)
|
||||
|
||||
These are sign conventions that depend on which way your hardware is
|
||||
physically mounted, and the code has a best-guess default that may be wrong
|
||||
for your build:
|
||||
|
||||
1. **IK elbow/tibia direction** (`Kinematics.cpp`) — command one leg to a
|
||||
few known foot positions by hand (e.g. via the serial harness) and watch
|
||||
whether the knee bends the way you expect. Flip the sign noted in the
|
||||
comment on `tibia_rad` if it bends backwards.
|
||||
2. **BodyPose roll/pitch sign** (`BodyPose.cpp`) — command a small roll/pitch
|
||||
offset and verify the body leans the direction you asked for, not the
|
||||
opposite.
|
||||
3. **RobotIMU register map** (`RobotIMU.cpp`) — written for an MPU6050-style
|
||||
chip (I2C addr `0x68`). If your gyro is a different part, its register
|
||||
addresses and scale factors will differ; swap them in.
|
||||
4. **Sit-pose assumption** — the built-in sit pose in `robot.ino` assumes all
|
||||
six feet stay grounded and simply lowers the body (a 0.4x height blend).
|
||||
If your chassis is meant to rest its belly on the ground instead, this
|
||||
needs a different, sequenced approach (fold legs up rather than just
|
||||
lowering).
|
||||
|
||||
## Testing without a remote yet
|
||||
|
||||
`robot.ino` has `#define TEST_SERIAL_INPUT` enabled by default. With that on,
|
||||
open the Arduino Serial Monitor (115200 baud, no line ending needed — single
|
||||
keystrokes) and use:
|
||||
|
||||
| Key | Action |
|
||||
|-----|--------|
|
||||
| `a` | toggle armed |
|
||||
| `s` | toggle sit / stand |
|
||||
| `w` / `x` | walk forward / backward |
|
||||
| `q` / `e` | strafe left / right |
|
||||
| `z` / `c` | yaw left / right |
|
||||
| `g` | toggle gait: tripod ↔ wave |
|
||||
| `m` | toggle walk mode: direct (A) ↔ heading-hold (B) |
|
||||
| space | zero all velocity (stop walking, stay in current state) |
|
||||
|
||||
Each keystroke injects a `CmdPacket` through `Comms::injectPacket()` — the
|
||||
exact same path a real remote's received radio packets go through, so the
|
||||
rest of the pipeline (mapper → state machine → gait → pose → IK → servos)
|
||||
runs identically to how it will with real hardware. Once you have a real
|
||||
remote transmitting, just remove the `#define TEST_SERIAL_INPUT` line (or
|
||||
leave it — injected packets simply won't happen if you don't type).
|
||||
|
||||
Arm (`a`), then stand (`s`), before trying to walk — the state machine
|
||||
enforces `DISARMED → SIT → STAND → WALKING` in order and will otherwise
|
||||
ignore walk commands.
|
||||
|
||||
## What's ready for the remote
|
||||
|
||||
- `Comms.h`'s `CmdPacket` struct and `FLAG_*` bit constants are the exact
|
||||
wire format the remote must send (as an RF24 payload to `RADIO_ADDRESS`
|
||||
on the same channel/data-rate/PA-level set in `Comms::begin()`).
|
||||
- Failsafe: if no packet arrives for `LINK_TIMEOUT_SEC`, `Comms::linkOk()`
|
||||
goes false and the main loop falls back to a zeroed `CmdPacket`, which
|
||||
disarms the robot.
|
||||
- `FLAG_REMOTE_GYRO` / `FLAG_ROBOT_GYRO` independently gate whether the
|
||||
remote's tilt feeds into body pose and whether the robot's own IMU
|
||||
stabilizes it — matching the touchscreen toggles you described.
|
||||
- `FLAG_RSTICK_XLATE` switches the right stick between rotation-axes and
|
||||
translation-axes interpretation, and `FLAG_MODE_B` switches between the
|
||||
two walk modes, all inside the existing `InputMapper`.
|
||||
|
||||
## File layout
|
||||
|
||||
```
|
||||
robot/
|
||||
├── robot.ino - main sketch: setup/loop, state wiring, serial test harness
|
||||
├── Config.h - all placeholder constants (edit this first)
|
||||
├── SmoothedValue.h - generic rate-limited setpoint smoother
|
||||
├── Kinematics.h/.cpp - per-leg 3-DOF analytical IK
|
||||
├── GaitEngine.h/.cpp - tripod/wave gait, per-leg phase, dynamic gait swap
|
||||
├── BodyPose.h/.cpp - 6-axis body pose composition (feedforward + IMU correction)
|
||||
├── RobotIMU.h/.cpp - gyro/accel read + complementary filter
|
||||
├── StateMachine.h/.cpp - DISARMED/SIT/STAND/WALKING with smoothed sit-stand blend
|
||||
├── InputMapper.h/.cpp - CmdPacket -> twist/pose/mode decoding
|
||||
├── Limits.h/.cpp - workspace clamp, joint rate limit, stance polygon check
|
||||
├── Comms.h/.cpp - nRF24L01 receive + packet/flags definition
|
||||
└── ServoDriver.h/.cpp - servo attach/relax/write
|
||||
```
|
||||
Reference in new issue
Block a user