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>
39 lines
1.5 KiB
C#
39 lines
1.5 KiB
C#
using UnityEngine;
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namespace HexapodSim
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{
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// Which Unity axis the robot's forward (+X) maps to. The old scene marks
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// the legs on Unity -Z as "invertForLeftLeg", which makes -X forward.
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public enum ForwardAxis { NegativeX, PositiveX }
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// Conversions between the firmware's body frame (right-handed, mm:
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// +X forward, +Y left, +Z up) and Unity (left-handed, Y up). Everything
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// physical in the simulation is computed in the robot frame and only
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// converted here, in one place.
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public static class RobotFrame
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{
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public static Vector3 ToUnity(Vector3 r, ForwardAxis f) =>
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f == ForwardAxis.NegativeX ? new Vector3(-r.x, r.z, -r.y) : new Vector3(r.x, r.z, r.y);
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public static Vector3 ToRobot(Vector3 u, ForwardAxis f) =>
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f == ForwardAxis.NegativeX ? new Vector3(-u.x, -u.z, u.y) : new Vector3(u.x, u.z, u.y);
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// A rotation expressed in the robot frame, as the equivalent Unity rotation.
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// (The mapping is a reflection, so this is M * R * M^-1, built from two axes.)
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public static Quaternion ToUnity(Quaternion robotRot, ForwardAxis f)
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{
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Vector3 fwd = ToUnity(robotRot * ToRobot(Vector3.forward, f), f);
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Vector3 up = ToUnity(robotRot * ToRobot(Vector3.up, f), f);
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return Quaternion.LookRotation(fwd, up);
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}
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public static float WrapDeg(float d)
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{
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d %= 360f;
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if (d > 180f) d -= 360f;
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if (d < -180f) d += 360f;
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return d;
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}
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}
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}
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