mangavalk
dfd4d34512
The LEGACY copies of HexapodRobot, Hexapod_NEW, Hexapod_Teensy and the old remote sketch were identical to the imported repos and are removed. The old Nextion design moves to 2019-teensy-nrf24/remote-nextion/, the 2019 remote case files to 2019-teensy-nrf24/remote-case/. Paths in CLAUDE.md, READMEs, remote/ comments, sim/build.ps1, the Unity DLL message and .vscode/settings.json now point to the new places. robot/ is not touched (its CLAUDE.md asks to check with the owner first).
51 lines
1.9 KiB
Markdown
51 lines
1.9 KiB
Markdown
# Hexapod
|
|
|
|
A six-legged walking robot (Teensy 3.6) 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
|
|
hardware/fusion360/ Fusion 360 designs: body, legs, servo, servo horn, remote case
|
|
scripts/ PlatformIO helper (per-environment sketch folder)
|
|
```
|
|
|
|
This is the `2026-current/` folder of the hexapod-robot repo; the earlier
|
|
generations (2009 onwards) are in the folders next to it, see
|
|
[../README.md](../README.md).
|
|
|
|
## 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 this `2026-current` folder 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.
|