FireFly: add wisFORlive.pdf

PDF version of the IK derivation. It was in the Hexapod-Archief repo from its first commit (2014) until the 2016 cleanup removed it, so it was only left in that repo's history.
Owner's reorganisation: frame into 2009-fpga, media regrouped, old math versions removed
2026-10-25 18:53:59 +01:00 · 2026-10-25 18:50:08 +01:00 · 2026-10-25 17:47:05 +01:00 · 2026-10-25 17:33:11 +01:00 · 2026-10-25 17:31:44 +01:00 · 2026-10-25 17:31:09 +01:00
244 changed files with 458 additions and 4666 deletions
@@ -1,3 +1,5 @@
+# Store every file exactly as it is: no line-ending conversion, so old code stays byte-for-byte original.
+* -text
 *.wmv filter=lfs diff=lfs merge=lfs -text
 *.WMV filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,10 @@
+# 2009–2011: the FPGA version
+
+The first hexapod, driven by an FPGA. Its frame, `original-frame/`, was the mechanical base of every
+version up to 2023. The FPGA code has not survived; what is left are the photos and videos in `media/`,
+among them `hexapod film 18-11-09.wmv`.
+
+- `original-frame/` – the leg, body and bracket designs (DXF/DWG, 2009–2011).
+- `media/` – photos and videos of the FPGA version, sorted by the owner; those of the FireFly version are in
+  `../2011-firefly-mega-ssc32/media/`. (Most file dates are copy dates. `DSCF*` photos carry a camera date
+  of 2003.)
@@ -0,0 +1,12 @@
+# Original frame (2009–2023)
+
+The mechanical design every version up to 2023 was built on. The 2026 robot has a new design, see
+`../../2026-current/hardware/fusion360/`.
+
+| File | Date | What |
+|---|---|---|
+| `poot.dxf` | 2009-10 | leg ("poot") |
+| `hexapod been.dxf` | 2009-12 | leg ("been") |
+| `poot2.dwg` | 2011-04 | leg, second version |
+| `body.dxf`, `Body.jpg` | 2011-07 | body plate, for the Arduino Mega + SSC-32 rebuild |
+| `bracket.dxf` | 2011-07 | servo bracket |
@@ -0,0 +1,28 @@
+# 2011–2012: FireFly (Arduino Mega + SSC-32)
+
+In June 2011 the robot was rebuilt around an Arduino Mega 2560 and a Lynxmotion SSC-32 servo controller,
+with a new body and bracket (`../2009-fpga/original-frame/`). The Mega does the inverse kinematics and sends
+`#n Pxxxx Txxx` commands to the SSC-32 over `Serial1` at 38400 baud. The serial banner calls it "FireFly".
+
+## firmware/
+
+Each folder is an Arduino sketch (or library); successive versions are successive commits, so
+`git log -p -- <folder>` shows what changed.
+
+| Folder | Dates | What |
+|---|---|---|
+| `2011-nunchuk/hexapod_oud/` | 2011-10, 2011-12 | Wii Nunchuk input, fixed walking sequences, IK, SSC-32 output. Second commit = `hexapod V2 29-12-11.rar` |
+| `2012-glcd-remote/hexapod_remote_glcd/` | 2012-03 | handheld remote: graphic LCD, IR receiver and Wii Nunchuk, using the hexapod library |
+| `2012-ir-radar-gps/hexapodV3/` | 2012-04, 2012-05 | v3 restructure (Data, Converter, IK, Servos classes), RC6 IR remote, ultrasonic sensor on a swivelling head servo, watchdog. `Oud/` is the 2011 code it started from |
+| `2012-library/hexapod/` | 2012-07, ≤2014-02 | the robot code as an Arduino library "hexapod" v3.1: IK, SSC-32, IR, ultrasonic, GPS (TinyGPS on `Serial2`), 7-segment display. Second commit = the variant kept in the 2014 GitLab archive |
+| `2012-behaviours-wip/FireFly/` | 2012-07 | start of a behaviour-based rewrite on top of the library; unfinished, does not compile |
+
+## Other folders
+
+- `hardware/` – the Arduino Mega 2560 (SparkFun DEV-09949) and SSC-32 photos of June 2011, `Layout Hexapod.jpg`.
+- `docs/math/` – the IK and body-rotation derivations (`[1]`–`[5]`, `Hexapod draaien Y as.png`, IK.pdf as `Movement Space Leg.pdf`). Older versions (`wisFORlive*.docx`) are in the history.
+- `docs/planning/` – workflow and to-do documents (2012).
+- `docs/research/` – papers on hexapod workspace and Q-learning, GPS module and TinyGPS manuals.
+- `docs/concepts/` – inspiration images and early sketches (2008–2012).
+- `tools/` – two small Windows programs from November 2011 (`hexapod 1.0.exe`, `hexapod Source 0.2.exe`); what they do is not known.
+- `media/` – photos and videos of the FireFly version, sorted by the owner, incl. `Hexapod 29-11-11.wmv`.
@@ -1,5 +0,0 @@
-[{000214A0-0000-0000-C000-000000000046}]
-Prop3=19,11
-[InternetShortcut]
-URL=https://www.siggraph.org/education/materials/HyperGraph/modeling/mod_tran/3drota.htm
-IDList=
@@ -1,5 +1,8 @@
-# Current Electronics
-
- - Arduino Mega 2560
- - Lynxmotion ssc32
- - todo: add servos, battery, bec
+# FireFly electronics (2011–2012)
+
+- Arduino Mega 2560 (`09949-02.jpg`, SparkFun DEV-09949)
+- Lynxmotion SSC-32 servo controller (`ssc-32-500.jpg`), on the Mega's `Serial1`
+- 18 leg servos on SSC-32 channels 0–8 and 16–24, a head servo on channel 9 with an ultrasonic sensor (2012)
+- IR receiver on pin 5, GPS on `Serial2` (2012)
+- `Layout Hexapod.jpg`: layout sketch (April 2012)
+- still to document (2016 note): servos, battery, BEC
@@ -0,0 +1,7 @@
+# 2012–2014: simulation on the PC
+
+- `ik-visualiser-vs/` – Visual Studio 2012 (C++, Win32 GDI) app that draws the leg inverse kinematics
+  (Oct–Nov 2012). The project file is still called `Catmull-Rom app.vcxproj`. A built `Debug/Hexapod app.exe` is included.
+- `processing-3d/` – Processing 2.2.1 3D simulator of the whole robot (October 2014): IK per leg (`FootClass`),
+  body rotation and translation (`HexapodClass`). Tags `processing-rar-1` … `processing-rar-4` are the four
+  archived versions. Its classes were later ported to Arduino, see `../2016-ssc32-processing-port/`.
@@ -1,3 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-</Project>
@@ -1,9 +0,0 @@
-Build started 14-1-2013 10:08:44.
-     1>Project "C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)).
-     1>Link:
-         Catmull-Rom app.vcxproj -> C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe
-     1>Done Building Project "C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" (Build target(s)).
-
-Build succeeded.
-
-Time Elapsed 00:00:01.54
@@ -1,31 +0,0 @@
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.ILK
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.EXE
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\CATMULL-ROM APP.PDB
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\DataLine.obj
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\InverseKinemetics.obj
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Main.obj
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\cl.command.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-rc.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-cvtres.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-cvtres.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-rc.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748-rc.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.12748.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.command.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.read.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link.write.1.tlog
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.idb
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\vc110.pdb
-C:\Users\Gebruiker\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Catmull-Rom app.pdb
@@ -1,2 +0,0 @@
-#v4.0:v110:false
-Debug|Win32|D:\dropbox\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\|
@@ -1,66 +0,0 @@
-Build started 25-11-2013 13:59:35.
-     1>Project "C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" on node 2 (Build target(s)).
-     1>ClCompile:
-         C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\CL.exe /c /ZI /nologo /W3 /WX- /Od /Oy- /D WIN32 /D _DEBUG /D _WINDOWS /Gm /EHsc /RTC1 /MDd /GS /fp:precise /Zc:wchar_t /Zc:forScope /Fo"Debug\\" /Fd"Debug\vc120.pdb" /Gd /TP /analyze- /errorReport:prompt DataLine.h InverseKinemetics.cpp Leg.cpp Main.cpp
-         Main.cpp
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.h(18): warning C4099: 'std::vector<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
-                 with
-                 [
-                     _Ty=D3DXVECTOR3
-                 ]
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(25): warning C4996: 'sprintf': This function or variable may be unsafe. Consider using sprintf_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details.
-                 c:\program files (x86)\microsoft visual studio 12.0\vc\include\stdio.h(356) : see declaration of 'sprintf'
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(26): warning C4172: returning address of local variable or temporary
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(303): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(304): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(305): warning C4244: 'argument' : conversion from 'float' to 'const int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(226): warning C4101: 'ps' : unreferenced local variable
-         Leg.cpp
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.h(18): warning C4099: 'std::vector<D3DXVECTOR3,std::allocator<_Ty>>' : type name first seen using 'class' now seen using 'struct'
-                 with
-                 [
-                     _Ty=D3DXVECTOR3
-                 ]
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(36): warning C4305: '+=' : truncation from 'double' to 'float'
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(38): warning C4305: '+=' : truncation from 'double' to 'float'
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(129): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(131): warning C4018: '<' : signed/unsigned mismatch
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(133): warning C4244: 'initializing' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(134): warning C4244: 'initializing' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(153): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(156): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(159): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(172): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(173): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(181): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\leg.cpp(182): warning C4244: 'argument' : conversion from 'float' to 'int', possible loss of data
-         InverseKinemetics.cpp
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.h(24): warning C4244: 'return' : conversion from 'double' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(27): warning C4244: 'return' : conversion from 'double' to 'float', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(30): warning C4244: 'return' : conversion from 'double' to 'float', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(23): warning C4101: 'r' : unreferenced local variable
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(81): warning C4244: 'initializing' : conversion from 'int' to 'float', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(87): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(88): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(89): warning C4244: '=' : conversion from 'float' to 'int', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(91): warning C4244: 'initializing' : conversion from 'double' to 'float', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(97): warning C4244: '=' : conversion from 'double' to 'float', possible loss of data
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\inversekinemetics.cpp(103): warning C4244: '=' : conversion from 'double' to 'float', possible loss of data
-         DataLine.h
-         Generating Code...
-     1>c:\users\patrick\dropbox\projecten\visual-studio\projecten\hexapod\hexapod app\main.cpp(404): warning C4715: 'WndProc' : not all control paths return a value
-     1>cl : Command line warning D9028: minimal rebuild failure, reverting to normal build
-       Link:
-         C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\link.exe /ERRORREPORT:PROMPT /OUT:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe" /INCREMENTAL:NO /NOLOGO d3dx11d.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /MANIFEST /MANIFESTUAC:"level='asInvoker' uiAccess='false'" /manifest:embed /DEBUG /PDB:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.pdb" /SUBSYSTEM:WINDOWS /TLBID:1 /DYNAMICBASE /NXCOMPAT /IMPLIB:"C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.lib" /MACHINE:X86 Debug\DataLine.obj
-         Debug\InverseKinemetics.obj
-         Debug\Leg.obj
-         Debug\Main.obj
-     1>DataLine.obj : warning LNK4075: ignoring '/EDITANDCONTINUE' due to '/OPT:LBR' specification
-         Catmull-Rom app.vcxproj -> C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Debug\Hexapod app.exe
-     1>Done Building Project "C:\Users\patrick\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Catmull-Rom app.vcxproj" (Build target(s)).
-
-Build succeeded.
-
-Time Elapsed 00:00:05.64
@@ -1,40 +0,0 @@
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC100.PDB
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\LEG.OBJ
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC100.PDB
-C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\DATALINE.OBJ
-C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\INVERSEKINEMETICS.OBJ
-C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\LEG.OBJ
-C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\MAIN.OBJ
-C:\USERS\MANGAVALK\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\VC110.PDB
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.EXE
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\HEXAPOD APP.EXE.INTERMEDIATE.MANIFEST
-C:\USERS\GEBRUIKER\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.PDB
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.EXE
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\HEXAPOD APP\DEBUG\HEXAPOD APP.EXE.INTERMEDIATE.MANIFEST
-D:\DROPBOX\DROPBOX\PROJECTEN\VISUAL-STUDIO\PROJECTEN\HEXAPOD\DEBUG\HEXAPOD APP.PDB
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\DataLine.obj
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\InverseKinemetics.obj
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Leg.obj
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\Main.obj
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\cl.command.1.tlog
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.read.1.tlog
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\CL.write.1.tlog
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.read.1.tlog
-C:\Users\MangaValk\Dropbox\Projecten\Visual-Studio\Projecten\Hexapod\Hexapod app\Debug\link-cvtres.write.1.tlog
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Author	SHA1	Message	Date
mangavalk	df54f0866d	FireFly: add wisFORlive.pdf PDF version of the IK derivation. It was in the Hexapod-Archief repo from its first commit (2014) until the 2016 cleanup removed it, so it was only left in that repo's history.	2026-10-25 18:53:59 +01:00
mangavalk	557f633897	Owner's reorganisation: frame into 2009-fpga, media regrouped, old math versions removed - original-frame/ moves into 2009-fpga/original-frame/ (the FPGA version introduced the frame). - Media regrouped by the owner: the two 2011-07-01 PNGs and MOV02256-02259 to FireFly, SNC00198.jpg to the FPGA version. - Removed from the current version (still in the history): docs/math wisFORlive.docx, wisFORlive3.docx, wisFORlive4.docx and 'z axis rotation.url'. - READMEs, 2026-current/CLAUDE.md and the root timeline updated to match.	2026-10-25 18:50:08 +01:00
mangavalk	3d879ad803	robot/: point the old-sketch references to 2019-teensy-nrf24/Hexapod_Teensy Comments in Config.h and the README referred to LEGACY/, which is folded into the generation folders. Also 'from the repo root' -> 'from the 2026-current folder'. Comment and documentation changes only; approved by the owner.	2026-10-25 17:47:05 +01:00
mangavalk	1b3102296b	Add READMEs for the repo and every generation, root CLAUDE.md and .gitattributes The root README has the timeline of all generations since 2009. Each generation folder explains its hardware and what is in it. .gitattributes turns off line-ending conversion so all files stay as they were.	2026-10-25 17:33:11 +01:00
mangavalk	be287b066e	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.	2026-10-25 17:31:44 +01:00
mangavalk	b3dd2e5540	Remove build output and editor files from the current version Visual Studio build output (.obj, .pdb, .tlog, .sdf, .suo, ipch) of the 2012 IK visualiser and Unity's .vs, Logs and UserSettings of the 2018 simulation. They stay in the history. The built 'Hexapod app.exe' (Debug) is kept. Also drops the per-folder .gitattributes of the Processing sketch (the repo root now defines how files are stored) and the 2016 README of the old Hexapod repo (its only content was a GitLab link).	2026-10-25 17:31:09 +01:00
mangavalk	dfd4d34512	Fold LEGACY into the generation folders 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).	2026-10-25 17:30:35 +01:00
mangavalk	c666bc6039	Current robot: Fusion 360 designs Body bottom, bottom and mid leg, servo horn (v5 and v6), Hitec HS-485HB servo model and the remote case (v4 and v40), with their preview images and exports. From D:\Fusion 360 export.	2026-10-25 17:28:46 +01:00
mangavalk	0b2d361716	FireFly: other versions of documents found on the share Files from Electronics\Hexapod whose content differs from the archive copies. They keep their original file name; a date is added where the name would clash.	2026-10-25 17:28:45 +01:00
mangavalk	a5372b902d	FireFly (2011-2012): photos and videos Everything created after 2 Nov 2011 20:44:07, incl. the 'Hexapod 29-11-11' film and media.jpg. From Electronics\Hexapod\media, Verwerkte media and media.jpg.	2026-10-25 17:27:04 +01:00