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>
27 lines
1.2 KiB
C++
27 lines
1.2 KiB
C++
#pragma once
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#include "Kinematics.h"
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class Limits {
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public:
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// Clamps a foot target into a conservative safe envelope around the leg's neutral stance.
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static FootTarget clampWorkspace(int leg_index, const FootTarget& target);
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// True if clampWorkspace() would leave the target unchanged.
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static bool inWorkspace(int leg_index, const FootTarget& target);
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// True if all six feet can be placed there at once: each target in its
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// workspace with a valid IK solution, and no two neighbouring legs'
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// segments closer than LEG_CLEARANCE_MM.
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static bool feetFeasible(const FootTarget feet[6]);
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// Smallest distance between neighbouring legs' segments for these feet
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// (diagnostics; a large negative number if some leg has no IK solution).
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static float legClearance(const FootTarget feet[6]);
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// Rate-limits a joint angle change to the servo's real max speed.
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static float clampJointRate(float current_deg, float target_deg, float max_deg_per_sec, float dt);
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// Coarse safety check: are enough legs grounded right now to be stable.
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// A real support-polygon/center-of-mass check is a good later upgrade.
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static bool stancePolygonOk(const bool in_stance[6]);
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};
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