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>
69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
#pragma once
|
|
// PC stand-in for the Arduino core, just enough for robot/ to compile
|
|
// unchanged into the simulation DLL. Only on the sim's include path - the
|
|
// Teensy build never sees this file.
|
|
#include <stdint.h>
|
|
#include <stddef.h>
|
|
#include <string.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <math.h>
|
|
#include <type_traits>
|
|
|
|
#ifndef PI
|
|
#define PI 3.1415926535897932384626433832795
|
|
#endif
|
|
|
|
// Arduino defines these as macros; templates behave the same for every use
|
|
// in robot/ without the double-evaluation surprises.
|
|
template <class T, class L, class H>
|
|
constexpr T constrain(T amt, L low, H high) {
|
|
return amt < low ? (T)low : (amt > high ? (T)high : amt);
|
|
}
|
|
template <class A, class B>
|
|
constexpr typename std::common_type<A, B>::type min(A a, B b) { return a < b ? a : b; }
|
|
template <class A, class B>
|
|
constexpr typename std::common_type<A, B>::type max(A a, B b) { return a > b ? a : b; }
|
|
|
|
inline double radians(double deg) { return deg * (PI / 180.0); }
|
|
inline double degrees(double rad) { return rad * (180.0 / PI); }
|
|
|
|
// Pins and hardware PWM. analogWrite() pulses are recorded per pin, so the
|
|
// simulation sees servo pulses exactly as the PWM hardware would make them.
|
|
#define INPUT 0
|
|
#define OUTPUT 1
|
|
#define LOW 0
|
|
#define HIGH 1
|
|
void pinMode(uint8_t pin, uint8_t mode);
|
|
void digitalWrite(uint8_t pin, uint8_t value);
|
|
void analogWrite(uint8_t pin, int value);
|
|
uint32_t analogWriteResolution(uint32_t bits); // returns the previous resolution, like Teensyduino
|
|
void analogWriteFrequency(uint8_t pin, float hz);
|
|
|
|
// Simulated clock, advanced by the simulation (see SimHardware.cpp).
|
|
uint32_t millis();
|
|
uint32_t micros();
|
|
void delay(uint32_t ms);
|
|
void delayMicroseconds(uint32_t us);
|
|
|
|
// USB serial: output is captured for Unity, input is fed from Unity.
|
|
class SimSerial {
|
|
public:
|
|
void begin(unsigned long) {}
|
|
int available();
|
|
int read();
|
|
size_t write(uint8_t c);
|
|
size_t print(const char* s);
|
|
size_t print(char c) { return write((uint8_t)c); }
|
|
size_t print(int v) { return printf("%d", v); }
|
|
size_t print(unsigned v) { return printf("%u", v); }
|
|
size_t print(long v) { return printf("%ld", v); }
|
|
size_t print(unsigned long v) { return printf("%lu", v); }
|
|
size_t print(double v) { return printf("%.2f", v); }
|
|
template <class T> size_t println(T v) { size_t n = print(v); return n + print("\n"); }
|
|
size_t println() { return print("\n"); }
|
|
size_t printf(const char* fmt, ...);
|
|
operator bool() const { return true; }
|
|
};
|
|
extern SimSerial Serial;
|