# Hexapod

A six-legged walking robot (Teensy 4.0) and its handheld remote
(Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.

```
robot/                     robot firmware: IK, gait, body pose, IMU stabilization, state machine
remote/                    remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
shared/                    HexapodProtocol: the CmdPacket wire format + radio settings used by both
sim/                       the unchanged robot firmware compiled into a DLL for the simulation
Hexapod_Simulation_Unity/  Unity project that runs that DLL on the 3D model
LEGACY/                    older material kept for reference
scripts/                   PlatformIO helper (per-environment sketch folder)
```

## Build (PlatformIO)

```
pio run                    # build both
pio run -e robot -t upload
pio run -e remote -t upload
pio device monitor -e robot
```

## Simulation

From the repo root in PowerShell (the dev PC is Windows):

```
.\sim\build.ps1            # build hexapod_sim.dll + run the headless firmware checks
```

Then open `Hexapod_Simulation_Unity` and press Play. See
[sim/README.md](sim/README.md).

## Where to go next

- **[robot/README.md](robot/README.md)**: placeholder geometry to measure,
  the bench-check checklist, and the serial test harness for driving the
  robot without a remote.
- **[remote/README.md](remote/README.md)**: wiring, control scheme, stick
  calibration, and the remote's serial console.
- **[remote/NEXTION.md](remote/NEXTION.md)**: how to build the touchscreen
  HMI.
- **[shared/HexapodProtocol/HexapodProtocol.h](shared/HexapodProtocol/HexapodProtocol.h)**:
  the protocol. Change it only by reflashing both boards.