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>
23 lines
1.2 KiB
C++
23 lines
1.2 KiB
C++
// Compiles robot/robot.ino unchanged as part of the simulation, then exposes
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// read-only views of its globals so the simulation can report robot state
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// without the robot code having to know it's being simulated.
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#include "../robot/robot.ino"
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#include "SimRobotAccess.h"
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namespace simrobot {
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void setupOnce() { setup(); }
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void loopOnce() { loop(); }
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int state() { return (int)state_machine.state(); }
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float sitStandBlend() { return state_machine.sitStandBlend(); }
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bool linkOk() { return comms.linkOk(); }
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float headingDeg() { return current_heading_deg; }
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float imuRollDeg() { return imu.rollDeg(); }
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float imuPitchDeg() { return imu.pitchDeg(); }
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bool imuEnabled() { return imu.enabled; }
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uint32_t lastLoopMicros() { return last_loop_us; }
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bool legInStance(int leg) { return gait.legInStance(leg); }
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float poseReachScale() { return pose.reachScale(); }
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float twistScale() { return gait.twistScale(); }
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float stanceHeightMm() { return Kinematics::stanceHeight(); }
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} // namespace simrobot
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