# 2018–2023: Unity simulation that drives the robot

Unity project (last opened in Unity 2021.3) that computes the walking gait on the PC and sends the servo
positions to the real robot:

- **2018** – straight to the SSC-32 over serial (`Assets/Serial/Serial2.cs`, COM7, 115200).
- **2019 onwards** – to the Teensy remote over USB (`Serial.cs`, COM4, 250000: 18 servo bytes + checksum +
  `0xFE 0xFF`), which forwards them by radio to the Teensy on the robot (`../2019-teensy-nrf24/`).
- 2019 "new design", 2022 joystick control, 2023 Unity upgrade.

Its scripts (`Foot.cs`, `Leg.cs`, `Walk.cs`) became the starting point of the simulation in
`../2026-current/Hexapod_Simulation_Unity/`.