Hexapod/hexapod-robot
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Give the 2014, 2016 and 2019 robot sketches their own sketch folder

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The Arduino IDE needs the folder name to match the .ino: HexapodRobot/, Hexapod_NEW/ and Hexapod_Teensy/. References in 2026-current/CLAUDE.md updated.
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mangavalk committed 2026-10-25 17:31:44 +01:00
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2026-current/CLAUDE.md
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@@ -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_*`.