- LEGACY/Hexapod_Teensy/: old robot sketch (reference only).
- platformio.ini: robot env targets teensy36 (owner-confirmed board).
- Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed
us/deg, pulse limits) built from the old sketch's pins, ranges, trims
and the old Unity servo directions. Rear-left/front-left coxa offsets
set to 0: the owner re-horns those two servos (the old +-90 left them
at the end of travel; the sim showed them clamping).
- ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6
Servo library stops at 12.
- Radio on CE 39 / CSN 15 with SPI SCK on pin 14.
- sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6).
- Docs: CLAUDE.md, READMEs.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
mangavalkandClaude Opus 5.5
5ff85c4eb8