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>
Not yet verified on hardware.
- shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll /
remote_pitch), FLAG_* bits and radio settings as the single protocol
definition; static payload size = sizeof(CmdPacket) on both radios.
- robot: use the shared protocol; vx = forward (harness w/x <-> q/e);
InputMapper adds remote tilt on top of the right stick when
FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick
roll/pitch when it's off.
- remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU,
RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder,
RadioLink, NextionUI, SerialConsole.
- CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
mangavalkandClaude Opus 5.5