mangavalkandClaude Opus 5.5
91dac16fca
Not yet verified on hardware. - shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll / remote_pitch), FLAG_* bits and radio settings as the single protocol definition; static payload size = sizeof(CmdPacket) on both radios. - robot: use the shared protocol; vx = forward (harness w/x <-> q/e); InputMapper adds remote tilt on top of the right stick when FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick roll/pitch when it's off. - remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU, RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder, RadioLink, NextionUI, SerialConsole. - CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
33 lines
1.1 KiB
Markdown
33 lines
1.1 KiB
Markdown
# Hexapod
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A six-legged walking robot (Teensy 4.0) and its handheld remote
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(Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
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```
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robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
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remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
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shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
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scripts/ PlatformIO helper (per-environment sketch folder)
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```
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## Build (PlatformIO)
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```
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pio run # build both
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pio run -e robot -t upload
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pio run -e remote -t upload
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pio device monitor -e robot
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```
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## Where to go next
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- **[robot/README.md](robot/README.md)**: placeholder geometry to measure,
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the bench-check checklist, and the serial test harness for driving the
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robot without a remote.
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- **[remote/README.md](remote/README.md)**: wiring, control scheme, stick
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calibration, and the remote's serial console.
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- **[remote/NEXTION.md](remote/NEXTION.md)**: how to build the touchscreen
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HMI.
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- **[shared/HexapodProtocol/HexapodProtocol.h](shared/HexapodProtocol/HexapodProtocol.h)**:
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the protocol. Change it only by reflashing both boards.
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