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
3.1 KiB
C#
120 lines
3.1 KiB
C#
using System;
|
|
using UnityEngine;
|
|
using System.Collections;
|
|
using System.IO.Ports;
|
|
using Random = System.Random;
|
|
|
|
public class Serial
|
|
{
|
|
private static Serial instance;
|
|
private int rnd = 0;
|
|
|
|
private Serial()
|
|
{
|
|
}
|
|
|
|
~Serial()
|
|
{
|
|
serialPort.Close();
|
|
serialPort.Dispose();
|
|
}
|
|
|
|
public static Serial Instance
|
|
{
|
|
get
|
|
{
|
|
if (instance == null)
|
|
{
|
|
instance = new Serial();
|
|
}
|
|
|
|
return instance;
|
|
}
|
|
}
|
|
|
|
public bool enabled = false;
|
|
|
|
public SerialPort serialPort;
|
|
|
|
public int[] values = new int[18];
|
|
|
|
public static string ByteArrayToString(byte[] ba)
|
|
{
|
|
return BitConverter.ToString(ba).Replace("-", " ");
|
|
}
|
|
|
|
public void send(int start, int a, int b, int c)
|
|
{
|
|
if (serialPort == null)
|
|
{
|
|
serialPort = new SerialPort(@"\\.\" + "COM4", 250000);
|
|
|
|
try
|
|
{
|
|
serialPort.Parity = Parity.Even;
|
|
serialPort.StopBits = StopBits.One;
|
|
serialPort.DataBits = 8;
|
|
serialPort.Open();
|
|
serialPort.DiscardOutBuffer();
|
|
serialPort.DiscardInBuffer();
|
|
System.Threading.Thread.Sleep(1000);
|
|
|
|
enabled = true;
|
|
}
|
|
catch
|
|
{
|
|
enabled = false;
|
|
}
|
|
}
|
|
|
|
if (enabled)
|
|
{
|
|
values[start] = a;
|
|
values[++start] = b;
|
|
values[++start] = c;
|
|
|
|
if (serialPort is SerialPort && start == 17)
|
|
{
|
|
// string send = "s";
|
|
byte[] send = new byte[18+1+2];
|
|
send[18] = 0x00;
|
|
send[19] = 0xfe;
|
|
send[20] = 0xff;
|
|
// send[21] = 0xff;
|
|
|
|
// if (rnd == 0)
|
|
// {
|
|
//rnd = 1;
|
|
for (int i = 0; i < 18; i++)
|
|
{
|
|
//string crc = ((i) * (values[i])) + "";
|
|
//send = send + (i).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
|
|
byte[] intBytes = BitConverter.GetBytes(values[i]);
|
|
if (BitConverter.IsLittleEndian)
|
|
Array.Reverse(intBytes);
|
|
send[i] = intBytes[3];
|
|
send[18] += send[i];
|
|
}
|
|
|
|
// Debug.Log(ByteArrayToString(send));
|
|
serialPort.Write(send, 0, 18+1+2);
|
|
serialPort.BaseStream.Flush();
|
|
// }
|
|
// else
|
|
// {
|
|
// rnd = 0;
|
|
// for (int i = 10; i < 18; i++)
|
|
// {
|
|
// string crc = ((i + 3) * (values[i])) + "";
|
|
//
|
|
// send = send + (i + 2).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
|
|
// }
|
|
//
|
|
// Debug.Log(send);
|
|
// serialPort.Write(send);
|
|
// }
|
|
}
|
|
}
|
|
}
|
|
}
|