mangavalk
557f633897
- original-frame/ moves into 2009-fpga/original-frame/ (the FPGA version introduced the frame). - Media regrouped by the owner: the two 2011-07-01 PNGs and MOV02256-02259 to FireFly, SNC00198.jpg to the FPGA version. - Removed from the current version (still in the history): docs/math wisFORlive.docx, wisFORlive3.docx, wisFORlive4.docx and 'z axis rotation.url'. - READMEs, 2026-current/CLAUDE.md and the root timeline updated to match.
Hexapod
A six-legged walking robot (Teensy 3.6) and its handheld remote (Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
sim/ the unchanged robot firmware compiled into a DLL for the simulation
Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
hardware/fusion360/ Fusion 360 designs: body, legs, servo, servo horn, remote case
scripts/ PlatformIO helper (per-environment sketch folder)
This is the 2026-current/ folder of the hexapod-robot repo; the earlier
generations (2009 onwards) are in the folders next to it, see
../README.md.
Build (PlatformIO)
pio run # build both
pio run -e robot -t upload
pio run -e remote -t upload
pio device monitor -e robot
Simulation
From this 2026-current folder in PowerShell (the dev PC is Windows):
.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
Then open Hexapod_Simulation_Unity and press Play. See
sim/README.md.
Where to go next
- robot/README.md: placeholder geometry to measure, the bench-check checklist, and the serial test harness for driving the robot without a remote.
- remote/README.md: wiring, control scheme, stick calibration, and the remote's serial console.
- remote/NEXTION.md: how to build the touchscreen HMI.
- shared/HexapodProtocol/HexapodProtocol.h: the protocol. Change it only by reflashing both boards.