mangavalkandClaude Opus 5.5
935526eab5
Simulation - sim/: the unchanged robot firmware compiled into hexapod_sim.dll against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050, RF24 with matching-config radio), a kinematic body model (support plane + planted-foot odometry) that also drives the simulated IMU, and a headless smoke test (sim_smoke). build.ps1 builds and tests. - Hexapod_Simulation_Unity/ folded in (history kept in a bundle outside the repo). Assets/HexapodSim loads the DLL, drives the existing leg rig, and offers joystick / keyboard / robot-serial input plus a test panel. Robot (all found or confirmed in the simulation) - Config.h geometry taken from the Unity model. - IK femur elevation sign, gait stance direction, body pose rotation direction, yaw lever arm. - Stance feet integrated from the current command; gait restarts at mid-stance; heading integrates the applied turn rate, only while walking. - Leg clearance and reach checks (Limits::feetFeasible); walk command and body pose scaled as a whole, pose scale rate-limited, planted feet guarded so the body never snaps or legs collide. - Robot-gyro self-leveling as an integrator. - Heading mode: steering relative to the body; S walks backward. - Standing height from the remote (STANCE_HEIGHT_RANGE_MM). Protocol v3 (reflash both boards) - CmdPacket gains body_height (22 bytes). Remote - Height slider (Nextion hHeight/nHeight, serial [ ]). - Fixed unspecified I2C read order in RemoteIMU. LEGACY/: owner's old Nextion HMI and remote hardware assets. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
33 lines
1.0 KiB
C++
33 lines
1.0 KiB
C++
#pragma once
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#include "Comms.h"
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#include "GaitEngine.h"
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#include "BodyPose.h"
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struct MapperOutput {
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Twist twist;
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PoseCommand pose;
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bool armed = false;
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bool stand_request = false;
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bool walk_active = false;
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bool mode_b = false;
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bool gait_wave = false;
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bool remote_gyro_enabled = false;
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bool robot_gyro_enabled = false;
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float stance_height_mm = STANCE_HEIGHT_MM; // requested standing height (feet below hips)
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};
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class InputMapper {
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public:
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// heading_deg is the robot's current tracked heading estimate; only mode B uses it.
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MapperOutput map(const CmdPacket& p, float heading_deg, float dt);
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private:
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float heading_target_deg_ = 0;
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bool stick_active_ = false; // mode B: stick currently pushed
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static constexpr float MAX_TURN_RATE_DEG_S = 90.0f;
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static constexpr float HEADING_KP = 2.0f;
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static constexpr float MAX_LINEAR_MM_S = 150.0f; // tune to your leg workspace / servo speed
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static constexpr float MAX_POSE_OFFSET_MM = 40.0f;
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static constexpr float MAX_TILT_DEG = 20.0f;
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};
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