mangavalkandClaude Opus 5.5
5ff85c4eb8
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only). - platformio.ini: robot env targets teensy36 (owner-confirmed board). - Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed us/deg, pulse limits) built from the old sketch's pins, ranges, trims and the old Unity servo directions. Rear-left/front-left coxa offsets set to 0: the owner re-horns those two servos (the old +-90 left them at the end of travel; the sim showed them clamping). - ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6 Servo library stops at 12. - Radio on CE 39 / CSN 15 with SPI SCK on pin 14. - sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6). - Docs: CLAUDE.md, READMEs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
30 lines
841 B
INI
30 lines
841 B
INI
; Hexapod: two firmware images in one project.
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; pio run -e robot build robot/ (Teensy 3.6)
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; pio run -e remote build remote/ (Teensy 4.1)
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; pio run -e robot -t upload flash (Teensy Loader / teensy_cli)
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; pio device monitor -e robot serial monitor at 115200
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;
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; shared/ is the library directory. Both sketches #include <HexapodProtocol.h>
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; from shared/HexapodProtocol/, which is the single definition of the wire
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; protocol (CmdPacket, FLAG_* bits, radio address/channel/rate/PA/payload size).
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[platformio]
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default_envs = robot, remote
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lib_dir = shared
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[env]
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platform = teensy
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framework = arduino
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monitor_speed = 115200
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extra_scripts = pre:scripts/select_src_dir.py
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lib_deps =
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nrf24/RF24@^1.4.9
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[env:robot]
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board = teensy36
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custom_src_dir = robot
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[env:remote]
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board = teensy41
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custom_src_dir = remote
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