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>
105 lines
2.9 KiB
C#
105 lines
2.9 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class rotation
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{
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public float min = -15;
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public float max = 15;
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public float speed = 0.3f;
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public bool dir = false;
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public bool enabled = true;
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public float i = 0;
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public rotation(float speed, float min, float max)
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{
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this.speed = speed;
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this.min = min;
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this.max = max;
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}
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public float update()
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{
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if (enabled)
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{
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if (!dir && i < max)
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{
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i += speed;
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}
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else if (!dir)
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{
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dir = !dir;
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i = (float)max;
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}
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else if (dir && i > min)
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{
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i -= speed;
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}
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else if (dir)
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{
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dir = !dir;
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i = (float)min;
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}
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}
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return i;
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}
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}
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public class RotationControl : MonoBehaviour
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{
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public Vector3 transformation = new Vector3(0, 0, 0);
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public Vector3 transformation2 = new Vector3(0, 0, 0);
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public Quaternion rotation = new Quaternion(0, 0, 0, 0);
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public List<GameObject> rotation2 = new List<GameObject>();
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public GameObject body;
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public GameObject body2;
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public rotation r1 = new rotation(0.1f, -10, 10);
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public rotation r2 = new rotation(0.2f, -10, 10);
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public rotation r3 = new rotation(0.3f, -10, 10);
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public rotation r4 = new rotation(0.06f, -3, 3);
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public rotation r5 = new rotation(0.08f, -3, 3);
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public rotation r6 = new rotation(0.1f, -3, 3);
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public rotation r7 = new rotation(0.1f, -3, 3);
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public rotation r8 = new rotation(0.2f, -3, 3);
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public rotation r9 = new rotation(0.3f, -3, 3);
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// Use this for initialization
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void Start ()
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{
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}
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// Update is called once per frame
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void FixedUpdate()
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{
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//rotation.x = r1.update();
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//rotation.y = r2.update();
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//rotation.z = r3.update();
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//transformationBeforeRotation.x = r4.update();
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//transformationBeforeRotation.y = r5.update();
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//transformationBeforeRotation.z = r6.update();
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/*transformationAfterRotation.x = r7.update();
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transformationAfterRotation.y = r8.update();
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transformationAfterRotation.z = r9.update();*/
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body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
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body.transform.position = transformation;
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body2.transform.localPosition = transformation2;
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for (int index = 0; index < rotation2.Count; ++index)
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{
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rotation2[index].GetComponent<Leg>().rotation = rotation;
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rotation2[index].GetComponent<Leg>().transformationBeforeRotation = transformation;
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rotation2[index].GetComponent<Leg>().transformationAfterRotation = transformation2;
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rotation2[index].GetComponent<Leg>().FixedUpdate();
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}
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}
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}
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