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).
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only).
- platformio.ini: robot env targets teensy36 (owner-confirmed board).
- Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed
us/deg, pulse limits) built from the old sketch's pins, ranges, trims
and the old Unity servo directions. Rear-left/front-left coxa offsets
set to 0: the owner re-horns those two servos (the old +-90 left them
at the end of travel; the sim showed them clamping).
- ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6
Servo library stops at 12.
- Radio on CE 39 / CSN 15 with SPI SCK on pin 14.
- sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6).
- Docs: CLAUDE.md, READMEs.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Simulation
- sim/: the unchanged robot firmware compiled into hexapod_sim.dll
against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050,
RF24 with matching-config radio), a kinematic body model (support
plane + planted-foot odometry) that also drives the simulated IMU,
and a headless smoke test (sim_smoke). build.ps1 builds and tests.
- Hexapod_Simulation_Unity/ folded in (history kept in a bundle
outside the repo). Assets/HexapodSim loads the DLL, drives the
existing leg rig, and offers joystick / keyboard / robot-serial
input plus a test panel.
Robot (all found or confirmed in the simulation)
- Config.h geometry taken from the Unity model.
- IK femur elevation sign, gait stance direction, body pose
rotation direction, yaw lever arm.
- Stance feet integrated from the current command; gait restarts at
mid-stance; heading integrates the applied turn rate, only while
walking.
- Leg clearance and reach checks (Limits::feetFeasible); walk command
and body pose scaled as a whole, pose scale rate-limited, planted
feet guarded so the body never snaps or legs collide.
- Robot-gyro self-leveling as an integrator.
- Heading mode: steering relative to the body; S walks backward.
- Standing height from the remote (STANCE_HEIGHT_RANGE_MM).
Protocol v3 (reflash both boards)
- CmdPacket gains body_height (22 bytes).
Remote
- Height slider (Nextion hHeight/nHeight, serial [ ]).
- Fixed unspecified I2C read order in RemoteIMU.
LEGACY/: owner's old Nextion HMI and remote hardware assets.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
mangavalk
