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>
65 lines
3.9 KiB
C++
65 lines
3.9 KiB
C++
#pragma once
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#include <Arduino.h>
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// =====================================================================
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// Remote -> robot wire protocol. SINGLE SOURCE OF TRUTH.
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//
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// Both robot/ and remote/ compile against this exact header (PlatformIO
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// lib_dir = shared). Any change here changes the over-the-air format:
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// rebuild and reflash BOTH boards together. The static payload size is set
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// to sizeof(CmdPacket) on both radios, so a remote and robot running
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// mismatched versions simply won't hear each other (the robot then fails
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// safe on link timeout) instead of misinterpreting fields.
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//
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// Axis convention (right-handed body frame, viewed from above, like ROS
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// REP-103): +X forward, +Y left, +Z up. Positive rotations follow the
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// right-hand rule: +roll = right side down, +pitch = nose down,
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// +yaw = counterclockwise (turn left).
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//
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// All analog fields are normalized -1000..1000. The robot owns the physical
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// scaling (max mm/s, max tilt deg, max offset mm) in InputMapper, so the
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// remote never needs to know robot geometry.
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// =====================================================================
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struct CmdPacket {
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int16_t vx = 0; // left stick: + forward / - backward
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int16_t vy = 0; // left stick: + strafe left / - strafe right
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int16_t yaw_rate = 0; // left stick twist: + turn left (CCW)
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int16_t rx = 0, ry = 0, rz = 0; // right stick: roll/pitch/yaw, or X/Y/Z offset if FLAG_RSTICK_XLATE
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int16_t remote_roll = 0; // remote handset tilt (feedforward), only honored with FLAG_REMOTE_GYRO
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int16_t remote_pitch = 0;
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int16_t body_height = 0; // standing height setting: -1000 lowest, 0 = default, +1000 highest
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uint8_t speed_scale = 128; // 0-255, multiplies vx/vy
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uint8_t flags = 0; // bit-packed, see FLAG_* below
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uint8_t seq = 0; // increments every transmitted packet
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};
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// Both ends are Teensy (Cortex-M7, little-endian, 2-byte int16 alignment):
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// 9 x int16 + 3 x uint8 = 21 bytes, padded to 22. If a different MCU family
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// ever joins, pack the struct explicitly rather than trusting this.
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static_assert(sizeof(CmdPacket) == 22, "CmdPacket layout changed - reflash both boards");
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static_assert(sizeof(CmdPacket) <= 32, "nRF24L01 payloads are limited to 32 bytes");
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constexpr uint8_t FLAG_ARMED = 1 << 0;
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constexpr uint8_t FLAG_STAND = 1 << 1; // 0 = sit requested, 1 = stand requested
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constexpr uint8_t FLAG_WALK = 1 << 2; // left stick past deadzone -> walking
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// Mode B (steering), relative to where the body faces right now: the left
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// stick's forward/back component walks forward/back, its sideways component
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// steers - forward+left or back+left walk while turning left, left alone
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// turns on the spot while held. Released, the robot holds its heading.
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constexpr uint8_t FLAG_MODE_B = 1 << 3; // 0 = mode A direct, 1 = mode B heading
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constexpr uint8_t FLAG_RSTICK_XLATE = 1 << 4; // 0 = right stick = rotation, 1 = translation
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constexpr uint8_t FLAG_GAIT_WAVE = 1 << 5; // 0 = tripod requested, 1 = wave requested
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constexpr uint8_t FLAG_REMOTE_GYRO = 1 << 6; // remote tilt feedforward enabled
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constexpr uint8_t FLAG_ROBOT_GYRO = 1 << 7; // robot stabilization feedback enabled
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// ---- Radio link settings (must be identical on both ends) ----
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constexpr uint8_t HXP_RADIO_ADDRESS[6] = "HXPD1"; // 5-byte pipe address + NUL
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constexpr uint8_t HXP_RADIO_CHANNEL = 96; // 2400+96 MHz; pick one clear of your local Wi-Fi
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constexpr uint8_t HXP_RADIO_PAYLOAD = sizeof(CmdPacket);
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// Data rate / PA level are RF24 enums; kept as plain ints here so this header
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// doesn't depend on RF24.h. 2 == RF24_250KBPS, 1 == RF24_PA_LOW in RF24 1.x;
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// both Comms.cpp (robot) and RadioLink.cpp (remote) static_assert this.
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constexpr uint8_t HXP_RADIO_DATA_RATE = 2; // RF24_250KBPS
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constexpr uint8_t HXP_RADIO_PA_LEVEL = 1; // RF24_PA_LOW
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