mangavalk
557f633897
- 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.
29 lines
2.2 KiB
Markdown
29 lines
2.2 KiB
Markdown
# 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`.
|