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>
120 lines
2.7 KiB
Plaintext
120 lines
2.7 KiB
Plaintext
fileFormatVersion: 2
|
|
guid: a66121207c396d94b8b3bd5b43a6c459
|
|
TextureImporter:
|
|
internalIDToNameTable: []
|
|
externalObjects: {}
|
|
serializedVersion: 13
|
|
mipmaps:
|
|
mipMapMode: 0
|
|
enableMipMap: 1
|
|
sRGBTexture: 1
|
|
linearTexture: 0
|
|
fadeOut: 0
|
|
borderMipMap: 0
|
|
mipMapsPreserveCoverage: 0
|
|
alphaTestReferenceValue: 0.5
|
|
mipMapFadeDistanceStart: 1
|
|
mipMapFadeDistanceEnd: 3
|
|
bumpmap:
|
|
convertToNormalMap: 0
|
|
externalNormalMap: 0
|
|
heightScale: 0.25
|
|
normalMapFilter: 0
|
|
flipGreenChannel: 0
|
|
isReadable: 0
|
|
streamingMipmaps: 0
|
|
streamingMipmapsPriority: 0
|
|
vTOnly: 0
|
|
ignoreMipmapLimit: 0
|
|
grayScaleToAlpha: 0
|
|
generateCubemap: 6
|
|
cubemapConvolution: 1
|
|
seamlessCubemap: 1
|
|
textureFormat: 1
|
|
maxTextureSize: 2048
|
|
textureSettings:
|
|
serializedVersion: 2
|
|
filterMode: 2
|
|
aniso: 0
|
|
mipBias: 0
|
|
wrapU: 1
|
|
wrapV: 1
|
|
wrapW: 1
|
|
nPOTScale: 1
|
|
lightmap: 0
|
|
compressionQuality: 50
|
|
spriteMode: 0
|
|
spriteExtrude: 1
|
|
spriteMeshType: 1
|
|
alignment: 0
|
|
spritePivot: {x: 0.5, y: 0.5}
|
|
spritePixelsToUnits: 100
|
|
spriteBorder: {x: 0, y: 0, z: 0, w: 0}
|
|
spriteGenerateFallbackPhysicsShape: 1
|
|
alphaUsage: 1
|
|
alphaIsTransparency: 0
|
|
spriteTessellationMethod: 0
|
|
spriteTessellationDetail: -1
|
|
spriteGeometrySubdivision: -1
|
|
textureType: 0
|
|
textureShape: 2
|
|
singleChannelComponent: 0
|
|
flipbookRows: 1
|
|
flipbookColumns: 1
|
|
maxTextureSizeSet: 0
|
|
compressionQualitySet: 0
|
|
textureFormatSet: 0
|
|
ignorePngGamma: 0
|
|
applyGammaDecoding: 0
|
|
swizzle: 50462976
|
|
cookieLightType: 0
|
|
platformSettings:
|
|
- serializedVersion: 4
|
|
buildTarget: DefaultTexturePlatform
|
|
maxTextureSize: 2048
|
|
resizeAlgorithm: 0
|
|
textureFormat: -1
|
|
textureCompression: 1
|
|
compressionQuality: 100
|
|
crunchedCompression: 0
|
|
allowsAlphaSplitting: 0
|
|
overridden: 0
|
|
ignorePlatformSupport: 0
|
|
androidETC2FallbackOverride: 0
|
|
forceMaximumCompressionQuality_BC6H_BC7: 0
|
|
- serializedVersion: 4
|
|
buildTarget: Standalone
|
|
maxTextureSize: 2048
|
|
resizeAlgorithm: 0
|
|
textureFormat: -1
|
|
textureCompression: 1
|
|
compressionQuality: 50
|
|
crunchedCompression: 0
|
|
allowsAlphaSplitting: 0
|
|
overridden: 0
|
|
ignorePlatformSupport: 0
|
|
androidETC2FallbackOverride: 0
|
|
forceMaximumCompressionQuality_BC6H_BC7: 0
|
|
spriteSheet:
|
|
serializedVersion: 2
|
|
sprites: []
|
|
outline: []
|
|
customData:
|
|
physicsShape: []
|
|
bones: []
|
|
spriteID:
|
|
internalID: 0
|
|
vertices: []
|
|
indices:
|
|
edges: []
|
|
weights: []
|
|
secondaryTextures: []
|
|
spriteCustomMetadata:
|
|
entries: []
|
|
nameFileIdTable: {}
|
|
mipmapLimitGroupName:
|
|
pSDRemoveMatte: 0
|
|
userData:
|
|
assetBundleName:
|
|
assetBundleVariant:
|