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>
22 lines
762 B
C++
22 lines
762 B
C++
#pragma once
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#include <stdint.h>
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// Read-only access to robot.ino's globals, implemented in robot_ino.cpp
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// (the translation unit that compiles robot.ino).
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namespace simrobot {
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void setupOnce();
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void loopOnce();
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int state(); // RobotState: 0 DISARMED, 1 SIT, 2 STAND, 3 WALKING
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float sitStandBlend();
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bool linkOk();
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float headingDeg();
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float imuRollDeg();
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float imuPitchDeg();
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bool imuEnabled();
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uint32_t lastLoopMicros();
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bool legInStance(int leg); // gait phase; only meaningful while WALKING
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float poseReachScale(); // BodyPose::reachScale(): 1 = full commanded pose
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float twistScale(); // GaitEngine::twistScale(): 1 = walk command as sent
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float stanceHeightMm(); // Kinematics::stanceHeight()
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} // namespace simrobot
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