Hexapod/hexapod-robot
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Fold LEGACY into the generation folders

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The LEGACY copies of HexapodRobot, Hexapod_NEW, Hexapod_Teensy and the old remote sketch were identical to the imported repos and are removed. The old Nextion design moves to 2019-teensy-nrf24/remote-nextion/, the 2019 remote case files to 2019-teensy-nrf24/remote-case/. Paths in CLAUDE.md, READMEs, remote/ comments, sim/build.ps1, the Unity DLL message and .vscode/settings.json now point to the new places. robot/ is not touched (its CLAUDE.md asks to check with the owner first).
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mangavalk committed 2026-10-25 17:30:35 +01:00
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commit dfd4d34512
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2026-current/remote/Config.h
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@@ -14,7 +14,7 @@
constexpr float TX_HZ = 100.0f;
// ---- Radio (nRF24L01) on SPI0: MOSI 11, MISO 12, SCK 13 ----
// CE/CSN as in the old remote sketch (LEGACY/remote/teensy/Nrf.h).
// CE/CSN as in the old remote sketch (2019-teensy-nrf24/remote/Nrf.h).
constexpr uint8_t RADIO_CE_PIN = 9;
constexpr uint8_t RADIO_CSN_PIN = 10;
// Auto-retransmit: (delay units of 250us, count). Kept short on purpose - a
@@ -31,7 +31,7 @@ constexpr uint32_t LINK_LOST_MS = 300;
// Logical axis order used everywhere in the remote code.
enum StickAxis : uint8_t { L_X = 0, L_Y, L_TWIST, R_X, R_Y, R_TWIST, NUM_AXES };
// A0-A5 in a row, as wired for the old remote (LEGACY/remote/teensy/Joysticks.h).
// A0-A5 in a row, as wired for the old remote (2019-teensy-nrf24/remote/Joysticks.h).
// A4/A5 are also Wire's SDA/SCL - that's why the MPU6050 is on Wire2 below.
// BENCH: which physical axis is on which pin wasn't recoverable from the old
// code; reorder these so each lands on the right logical axis ('p' dump).
2026-current/remote/NEXTION.md
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@@ -1,6 +1,6 @@
# Nextion HMI build guide
Start from your existing HMI (`LEGACY/remote/remote.HMI`, the servo
Start from your existing HMI (`../../2019-teensy-nrf24/remote-nextion/remote.HMI`, the servo
monitor) and **add one page named `control`** with the components below.
Your existing pages keep working:
2026-current/remote/README.md
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@@ -8,10 +8,10 @@ at 100 Hz.
## Building
From the repo root: `pio run -e remote`, flash with
From the `2026-current` folder: `pio run -e remote`, flash with
`pio run -e remote -t upload`, monitor with `pio device monitor -e remote`.
## Wiring (from the old remote sketch in `LEGACY/remote/teensy/`; edit `Config.h` if yours differs)
## Wiring (from the old remote sketch in `../../2019-teensy-nrf24/remote/`; edit `Config.h` if yours differs)
| Part | Signal | Teensy 4.1 pin |
|------|--------|----------------|