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>
72 lines
2.3 KiB
C#
72 lines
2.3 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using UnityEngine;
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namespace Assets.JoyStick
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{
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class HandleHoystick : MonoBehaviour
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{
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public RotationControl bot;
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public Walk walk;
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public void Update()
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{
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float a2 = Remap(Input.GetAxis("1"), 1, -127, -1, 127);
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float a1 = Remap(Input.GetAxis("2"), 1, -127, -1, 127);
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float a3 = Remap(Input.GetAxis("3"), -1, -127, 1, 127);
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float b2 = Remap(Input.GetAxis("4"), -1, -127, 1, 127);
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float b3 = Remap(Input.GetAxis("5"), -1, -127, 1, 127);
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float b1 = Remap(Input.GetAxis("6"), -1, -127, 1, 127);
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//Debug.Log(Input.GetAxis("4"));
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//Debug.Log(Remap(Input.GetAxis("4"), -1, -127, 1, 127));
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bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
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1);
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float speed = (float)(Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
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walk.walkspeed = speed < 0.5f ? 0 : speed;
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float rotation = -1 * limit(b3 / 4, -5, 5);
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walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
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walk.walkDirection = (-1 * ConvertRadiansToDegrees((float)Math.Atan2(b2, b1)));
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float rotationabs = Math.Abs(walk.centerRotation);
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float speed2 = ((6 / 3) * walk.walkspeed) + ((6 / 5) * rotationabs);
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speed2 = speed2 < 6 ? speed2 : 6;
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walk.speed2 = (int)(10 - speed2);
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}
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public float limit(float input, float min, float max)
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{
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input = input / 6;
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return (input < max & input > min) ? input : input < min ? min : max;
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}
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public float ConvertRadiansToDegrees(float radians)
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{
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float degrees = (float)((180 / Math.PI) * radians);
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return (degrees);
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}
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public float Remap(float from, float fromMin, float toMin, float fromMax, float toMax)
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{
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var fromAbs = from - fromMin;
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var fromMaxAbs = fromMax - fromMin;
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var normal = fromAbs / fromMaxAbs;
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var toMaxAbs = toMax - toMin;
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var toAbs = toMaxAbs * normal;
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var to = toAbs + toMin;
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return to;
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}
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}
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} |