mangavalkandClaude Opus 5.5
5ff85c4eb8
- 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>
45 lines
1.2 KiB
C
45 lines
1.2 KiB
C
byte pins[18] = {4, 3, 2,
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7, 6, 5,
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10, 9, 8,
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23, 22, 21,
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20, 36, 37,
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17, 16, 38
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};
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int servoMin[18] = {553, 840, 553,
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553, 840, 553,
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553, 840, 553,
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553, 840, 553,
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553, 840, 553,
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553, 840, 553
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};
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int servoMax[18] = {2425, 2050, 2425,
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2425, 2050, 2425,
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2425, 2050, 2425,
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2425, 2050, 2425,
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2425, 2050, 2425,
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2425, 2050, 2425
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};
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int servoCallibration[18] = {0, 100, 0,
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0, 100, -30,
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0, 80, -50,
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-120, 0, 0,
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-10, 20, 0,
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0, 20, -80
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};
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float servoOffset[18] = {0, 0, 0,
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0, 0, 0,
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0, 0, 0,
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90, 0, 0,
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0, 0, 0,
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-90, 0, 0
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};
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