mangavalkandClaude Opus 5.5
935526eab5
Simulation - sim/: the unchanged robot firmware compiled into hexapod_sim.dll against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050, RF24 with matching-config radio), a kinematic body model (support plane + planted-foot odometry) that also drives the simulated IMU, and a headless smoke test (sim_smoke). build.ps1 builds and tests. - Hexapod_Simulation_Unity/ folded in (history kept in a bundle outside the repo). Assets/HexapodSim loads the DLL, drives the existing leg rig, and offers joystick / keyboard / robot-serial input plus a test panel. Robot (all found or confirmed in the simulation) - Config.h geometry taken from the Unity model. - IK femur elevation sign, gait stance direction, body pose rotation direction, yaw lever arm. - Stance feet integrated from the current command; gait restarts at mid-stance; heading integrates the applied turn rate, only while walking. - Leg clearance and reach checks (Limits::feetFeasible); walk command and body pose scaled as a whole, pose scale rate-limited, planted feet guarded so the body never snaps or legs collide. - Robot-gyro self-leveling as an integrator. - Heading mode: steering relative to the body; S walks backward. - Standing height from the remote (STANCE_HEIGHT_RANGE_MM). Protocol v3 (reflash both boards) - CmdPacket gains body_height (22 bytes). Remote - Height slider (Nextion hHeight/nHeight, serial [ ]). - Fixed unspecified I2C read order in RemoteIMU. LEGACY/: owner's old Nextion HMI and remote hardware assets. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Hexapod
A six-legged walking robot (Teensy 4.0) and its handheld remote (Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
sim/ the unchanged robot firmware compiled into a DLL for the simulation
Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
LEGACY/ older material kept for reference
scripts/ PlatformIO helper (per-environment sketch folder)
Build (PlatformIO)
pio run # build both
pio run -e robot -t upload
pio run -e remote -t upload
pio device monitor -e robot
Simulation
From the repo root in PowerShell (the dev PC is Windows):
.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
Then open Hexapod_Simulation_Unity and press Play. See
sim/README.md.
Where to go next
- robot/README.md: placeholder geometry to measure, the bench-check checklist, and the serial test harness for driving the robot without a remote.
- remote/README.md: wiring, control scheme, stick calibration, and the remote's serial console.
- remote/NEXTION.md: how to build the touchscreen HMI.
- shared/HexapodProtocol/HexapodProtocol.h: the protocol. Change it only by reflashing both boards.