From be287b066e279b8aef5261459b04b0cd24ca5ed9 Mon Sep 17 00:00:00 2001 From: MangaValk Date: Sun, 25 Oct 2026 17:31:44 +0100 Subject: [PATCH] Give the 2014, 2016 and 2019 robot sketches their own sketch folder The Arduino IDE needs the folder name to match the .ino: HexapodRobot/, Hexapod_NEW/ and Hexapod_Teensy/. References in 2026-current/CLAUDE.md updated. --- 2014-ik-core-task-queue/{ => HexapodRobot}/Hexapod.h | 0 .../{ => HexapodRobot}/HexapodRobot.ino | 0 2014-ik-core-task-queue/{ => HexapodRobot}/SerD.h | 0 .../{ => Hexapod_NEW}/CustomTimer.h | 0 .../{ => Hexapod_NEW}/FootClass.h | 0 .../{ => Hexapod_NEW}/Global.h | 0 .../{ => Hexapod_NEW}/HexapodClass.h | 0 .../{ => Hexapod_NEW}/Hexapod_NEW.ino | 0 2016-ssc32-processing-port/{ => Hexapod_NEW}/Servo.h | 0 .../{ => Hexapod_NEW}/Vector.h | 0 .../{robot => Hexapod_Teensy}/Hexapod_Teensy.ino | 0 2019-teensy-nrf24/{robot => Hexapod_Teensy}/Nrf.h | 0 .../{robot => Hexapod_Teensy}/PWMServo.cpp | 0 .../{robot => Hexapod_Teensy}/PWMServo.h | 0 .../TransferDataStructure.h | 0 2019-teensy-nrf24/{robot => Hexapod_Teensy}/config.h | 0 2026-current/CLAUDE.md | 12 ++++++------ 17 files changed, 6 insertions(+), 6 deletions(-) rename 2014-ik-core-task-queue/{ => HexapodRobot}/Hexapod.h (100%) rename 2014-ik-core-task-queue/{ => HexapodRobot}/HexapodRobot.ino (100%) rename 2014-ik-core-task-queue/{ => HexapodRobot}/SerD.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/CustomTimer.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/FootClass.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/Global.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/HexapodClass.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/Hexapod_NEW.ino (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/Servo.h (100%) rename 2016-ssc32-processing-port/{ => Hexapod_NEW}/Vector.h (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/Hexapod_Teensy.ino (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/Nrf.h (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/PWMServo.cpp (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/PWMServo.h (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/TransferDataStructure.h (100%) rename 2019-teensy-nrf24/{robot => Hexapod_Teensy}/config.h (100%) diff --git a/2014-ik-core-task-queue/Hexapod.h b/2014-ik-core-task-queue/HexapodRobot/Hexapod.h similarity index 100% rename from 2014-ik-core-task-queue/Hexapod.h rename to 2014-ik-core-task-queue/HexapodRobot/Hexapod.h diff --git a/2014-ik-core-task-queue/HexapodRobot.ino b/2014-ik-core-task-queue/HexapodRobot/HexapodRobot.ino similarity index 100% rename from 2014-ik-core-task-queue/HexapodRobot.ino rename to 2014-ik-core-task-queue/HexapodRobot/HexapodRobot.ino diff --git a/2014-ik-core-task-queue/SerD.h b/2014-ik-core-task-queue/HexapodRobot/SerD.h similarity index 100% rename from 2014-ik-core-task-queue/SerD.h rename to 2014-ik-core-task-queue/HexapodRobot/SerD.h diff --git a/2016-ssc32-processing-port/CustomTimer.h b/2016-ssc32-processing-port/Hexapod_NEW/CustomTimer.h similarity index 100% rename from 2016-ssc32-processing-port/CustomTimer.h rename to 2016-ssc32-processing-port/Hexapod_NEW/CustomTimer.h diff --git a/2016-ssc32-processing-port/FootClass.h b/2016-ssc32-processing-port/Hexapod_NEW/FootClass.h similarity index 100% rename from 2016-ssc32-processing-port/FootClass.h rename to 2016-ssc32-processing-port/Hexapod_NEW/FootClass.h diff --git a/2016-ssc32-processing-port/Global.h b/2016-ssc32-processing-port/Hexapod_NEW/Global.h similarity index 100% rename from 2016-ssc32-processing-port/Global.h rename to 2016-ssc32-processing-port/Hexapod_NEW/Global.h diff --git a/2016-ssc32-processing-port/HexapodClass.h b/2016-ssc32-processing-port/Hexapod_NEW/HexapodClass.h similarity index 100% rename from 2016-ssc32-processing-port/HexapodClass.h rename to 2016-ssc32-processing-port/Hexapod_NEW/HexapodClass.h diff --git a/2016-ssc32-processing-port/Hexapod_NEW.ino b/2016-ssc32-processing-port/Hexapod_NEW/Hexapod_NEW.ino similarity index 100% rename from 2016-ssc32-processing-port/Hexapod_NEW.ino rename to 2016-ssc32-processing-port/Hexapod_NEW/Hexapod_NEW.ino diff --git a/2016-ssc32-processing-port/Servo.h b/2016-ssc32-processing-port/Hexapod_NEW/Servo.h similarity index 100% rename from 2016-ssc32-processing-port/Servo.h rename to 2016-ssc32-processing-port/Hexapod_NEW/Servo.h diff --git a/2016-ssc32-processing-port/Vector.h b/2016-ssc32-processing-port/Hexapod_NEW/Vector.h similarity index 100% rename from 2016-ssc32-processing-port/Vector.h rename to 2016-ssc32-processing-port/Hexapod_NEW/Vector.h diff --git a/2019-teensy-nrf24/robot/Hexapod_Teensy.ino b/2019-teensy-nrf24/Hexapod_Teensy/Hexapod_Teensy.ino similarity index 100% rename from 2019-teensy-nrf24/robot/Hexapod_Teensy.ino rename to 2019-teensy-nrf24/Hexapod_Teensy/Hexapod_Teensy.ino diff --git a/2019-teensy-nrf24/robot/Nrf.h b/2019-teensy-nrf24/Hexapod_Teensy/Nrf.h similarity index 100% rename from 2019-teensy-nrf24/robot/Nrf.h rename to 2019-teensy-nrf24/Hexapod_Teensy/Nrf.h diff --git a/2019-teensy-nrf24/robot/PWMServo.cpp b/2019-teensy-nrf24/Hexapod_Teensy/PWMServo.cpp similarity index 100% rename from 2019-teensy-nrf24/robot/PWMServo.cpp rename to 2019-teensy-nrf24/Hexapod_Teensy/PWMServo.cpp diff --git a/2019-teensy-nrf24/robot/PWMServo.h b/2019-teensy-nrf24/Hexapod_Teensy/PWMServo.h similarity index 100% rename from 2019-teensy-nrf24/robot/PWMServo.h rename to 2019-teensy-nrf24/Hexapod_Teensy/PWMServo.h diff --git a/2019-teensy-nrf24/robot/TransferDataStructure.h b/2019-teensy-nrf24/Hexapod_Teensy/TransferDataStructure.h similarity index 100% rename from 2019-teensy-nrf24/robot/TransferDataStructure.h rename to 2019-teensy-nrf24/Hexapod_Teensy/TransferDataStructure.h diff --git a/2019-teensy-nrf24/robot/config.h b/2019-teensy-nrf24/Hexapod_Teensy/config.h similarity index 100% rename from 2019-teensy-nrf24/robot/config.h rename to 2019-teensy-nrf24/Hexapod_Teensy/config.h diff --git a/2026-current/CLAUDE.md b/2026-current/CLAUDE.md index 583d8bc..05a0835 100644 --- a/2026-current/CLAUDE.md +++ b/2026-current/CLAUDE.md @@ -21,11 +21,11 @@ This folder is `2026-current/` inside the `hexapod-robot` repo. The older genera (paths below are relative to this folder) and are the owner's reference material: ``` -../2019-teensy-nrf24/robot/ old robot sketch: servo passthrough only, no IK - see "Old robot sketch" below +../2019-teensy-nrf24/Hexapod_Teensy/ old robot sketch: servo passthrough only, no IK - see "Old robot sketch" below ../2019-teensy-nrf24/remote/ old remote sketch ../2019-teensy-nrf24/remote-nextion/ remote.HMI = old Nextion UI, 6 pages -../2016-ssc32-processing-port/, older generations with their own IK, driving an external -../2014-ik-core-task-queue/ SSC-32-style servo controller +../2016-ssc32-processing-port/Hexapod_NEW/, older generations with their own IK, driving an external +../2014-ik-core-task-queue/HexapodRobot/ SSC-32-style servo controller ../README.md timeline of every generation since 2009 ``` @@ -300,7 +300,7 @@ Robot (`robot/README.md` has detail): push opposite to the commanded motion. The harness `z`/`c` keys were corrected to `z` = `yaw_rate` + (turn left). `sim_smoke` checks that +vx goes forward and +yaw_rate turns left. -- **Old robot sketch (`../2019-teensy-nrf24/robot/`)**: real hardware facts. +- **Old robot sketch (`../2019-teensy-nrf24/Hexapod_Teensy/`)**: real hardware facts. It received 18 servo angles (0–180) over RF24Network (channel 90) from the old remote/Unity and wrote them with PWMServo. No IK, no gait. - **Board:** Teensy 3.6 (pins 36–39 and `SPI.setSCK(14)`, confirmed by @@ -328,7 +328,7 @@ Robot (`robot/README.md` has detail): - tibia servo = −tibia (right), 180 + tibia (left), so 90 = knee bent 90°. - All of this is now in `Config.h` `SERVOS` (see "Servos" above). -- **Older sketches (`../2016-ssc32-processing-port/`, `../2014-ik-core-task-queue/`, +- **Older sketches (`../2016-ssc32-processing-port/Hexapod_NEW/`, `../2014-ik-core-task-queue/HexapodRobot/`, 2014–2016 era)**: an earlier electronics generation. They did IK on the board and sent `#n Pxxxx … T0` text commands over `Serial1` to an external SSC-32-style servo controller (channels 0–9 and 16–24). @@ -336,7 +336,7 @@ Robot (`robot/README.md` has detail): 960–2100 µs femur over 0–180°), which corroborates the ≈6.7 µs/° femur in `SERVOS`. - **Links:** femur 10, tibia 15 (cm), with no coxa length in that IK. - - **Hip layout comment in `../2016-ssc32-processing-port/HexapodClass.h`:** width 9.5 cm + - **Hip layout comment in `../2016-ssc32-processing-port/Hexapod_NEW/Hexapod_NEW/HexapodClass.h`:** width 9.5 cm (front/rear) and 14 cm (middle), 10 cm front-to-middle-to-rear. The Unity model has 10 / 13 / 10. Whichever chassis is current, measure before trusting `LEG_MOUNT_*`.