mangavalk
1b3102296b
The root README has the timeline of all generations since 2009. Each generation folder explains its hardware and what is in it. .gitattributes turns off line-ending conversion so all files stay as they were.
694 B
694 B
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/.