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>
4.2 KiB
Nextion HMI build guide
The firmware drives the display by component name, and the display talks back with small custom frames sent from each button's touch event. Build one page in Nextion Editor to match the tables below. Layout, fonts and colors are up to you. The names and event code must match exactly.
The remote is authoritative. Use plain Button components (not Dual-state buttons) and don't toggle anything locally in the HMI. The remote repaints every label and color from its own state, including a full redraw every 2 s and whenever the display reboots.
Program.s / page setup
In Program.s, before page 0, add:
bauds=115200
This sets the display to the NEXTION_BAUD in remote/Config.h. The
display ships at 9600, and bauds= persists across power cycles.
Name the page main (page 0). The firmware never changes pages.
Components
Text components need txt_maxl at least as large as the longest string the firmware writes. Button bounds here allow some slack.
| Name | Type | txt_maxl | Firmware writes |
|---|---|---|---|
bArm |
Button | 10 | ARMED / DISARMED, bco red / gray |
bKill |
Button | – | nothing (static "DISARM" label, make it red) |
bStand |
Button | 6 | STAND / SIT, bco green / gray |
bGait |
Button | 8 | TRIPOD / WAVE |
bMode |
Button | 8 | DIRECT / HEADING |
bRs |
Button | 10 | R: ROTATE / R: MOVE |
bRGyro |
Button | – | bco green / gray (label it "REMOTE GYRO") |
bBGyro |
Button | – | bco green / gray (label it "ROBOT GYRO") |
hSpeed |
Slider | – | val 0..255 (set maxval = 255) |
nSpeed |
Number | – | val 0..100 (speed %) |
bCal |
Button | 9 | CAL / SAVE CAL, bco orange while active |
bCalX |
Button | – | nothing (static "CANCEL CAL") |
bZero |
Button | – | nothing (static "LEVEL") |
tLink |
Text | 10 | LINK 97% / NO LINK, pco green / red |
tMsg |
Text | 40 | status / rejection messages |
Touch events
Put this in each component's Touch Release Event (the Speed slider
uses Touch Move as well so the value tracks your finger). Frame format:
'#' (0x23), length, command byte, optional value byte.
| Component | Event code | Command |
|---|---|---|
bArm |
printh 23 01 41 |
A toggle arm (needs sticks centered) |
bKill |
printh 23 01 4B |
K disarm, always accepted |
bStand |
printh 23 01 53 |
S toggle sit/stand |
bGait |
printh 23 01 47 |
G tripod ↔ wave |
bMode |
printh 23 01 4D |
M direct ↔ heading-hold |
bRs |
printh 23 01 58 |
X right stick rotate ↔ translate |
bRGyro |
printh 23 01 52 |
R remote-gyro tilt on/off |
bBGyro |
printh 23 01 42 |
B robot self-stabilize on/off |
hSpeed |
printh 23 02 56prints hSpeed.val,1 |
V + speed byte |
bZero |
printh 23 01 5A |
Z zero handset level |
bCal |
printh 23 01 43 |
C start / save stick calibration |
bCalX |
printh 23 01 51 |
Q cancel calibration |
Uncheck "Send Component ID" on every component. The firmware ignores standard touch frames, and they only add serial traffic.
Protocol details and the parser live in NextionUI.h/.cpp. To add a
control, pick an unused command byte, add it to NextionUI::decodeCustom()
and UiCmd, handle it in RemoteState::handle(), and add a row here.