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>
34 lines
1.1 KiB
C++
34 lines
1.1 KiB
C++
#pragma once
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#include <Arduino.h>
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struct JointAngles {
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float coxa_deg;
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float femur_deg;
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float tibia_deg;
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bool valid; // false if the target was unreachable or outside joint limits
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};
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struct FootTarget {
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float x, y, z; // body-frame mm, relative to body center
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};
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class Kinematics {
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public:
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// Solves leg i's joint angles for a body-frame foot target.
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static JointAngles solve(int leg_index, const FootTarget& target);
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// The leg's resting/neutral foot target, in body frame, at the current
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// stance height.
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static FootTarget neutralStance(int leg_index);
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// Standing height: how far below the hips the neutral feet sit (starts at
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// STANCE_HEIGHT_MM). Everything built on neutralStance() - gait, sit/stand,
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// workspace limits - follows it.
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static void setStanceHeight(float mm);
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static float stanceHeight();
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// Forward kinematics: the leg's joint positions for the given angles, body
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// frame - [0] coxa pivot (hip), [1] femur pivot, [2] knee, [3] foot.
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static void jointPositions(int leg_index, const JointAngles& a, FootTarget out[4]);
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};
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