# 2019–2022: Teensy robot and Teensy remote

The SSC-32 was replaced by a Teensy 3.6 on the robot that drives the 18 servos itself, and a second Teensy
became the handheld remote. They talk over nRF24L01 (RF24Network, channel 90). The robot has no IK of its own:
it plays the servo angles it receives, which come from the Unity simulation (`../2018-unity-sim/`) through the
remote's USB passthrough, or from the remote's sliders.

| Folder | What |
|---|---|
| `Hexapod_Teensy/` | robot: PWMServo on 18 pins, per-servo ranges and trims (`config.h`), MPU6050, nRF24 (CE 39, CSN 15, SCK 14) |
| `remote/` | remote: Nextion screen, 6 joystick axes with EEPROM calibration, MPU6050, nRF24 (CE 9, CSN 10), USB passthrough at 250000 |
| `remote-nextion/` | `remote.HMI`, the Nextion Editor design (6 pages: servo monitor, upload screen) |
| `remote-case/` | 3D-print files of the remote case and bezel, an Arduino Mega cover plate, a font |
| `tests/` | May 2019 bring-up sketches: SSC-32 command emulator (first step to replacing the SSC-32), nRF24 and MPU6050 tests with the robot's pins |

Its hardware facts (pins, ranges, trims) were carried over into `../2026-current/robot/Config.h`.