# 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 (`../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]`, the original `wisFORlive*.docx` versions, IK.pdf as `Movement Space Leg.pdf`).
- `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 created after 2 November 2011 20:44:07, incl. `Hexapod 29-11-11.wmv`.