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>
28 lines
1.1 KiB
C++
28 lines
1.1 KiB
C++
#pragma once
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// Kinematic body model: where the robot's body is in the world, given only
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// where the firmware puts its feet. No dynamics - the body rests on the
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// ground plane its feet define, and grounded feet don't slide.
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//
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// Robot/world frame: right-handed, mm, +X forward, +Y left, +Z up; world
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// ground at z = 0 before ground tilt.
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#include <stdint.h>
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namespace simbody {
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void reset();
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void setGroundTilt(float roll_deg, float pitch_deg); // tilts the ground (and so the robot) - robot-gyro tests
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// Advances the body to match new body-frame foot positions (18 floats, mm).
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void update(const float feet_mm[18], float dt);
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// Results.
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void position(float out_mm[3]); // body origin, world
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void orientation(float out_wxyz[4]); // body -> world rotation
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float yawDeg(); // accumulated heading (not wrapped)
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int contactMask(); // bit i = foot i on the ground
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// What an IMU fixed to the body reads: accel in g (+1 g up at rest), gyro deg/s.
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void imu(float accel_g[3], float gyro_dps[3]);
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} // namespace simbody
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