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>
70 lines
1.6 KiB
C#
70 lines
1.6 KiB
C#
/*using System;
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using UnityEngine;
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using System.Collections;
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using System.IO.Ports;
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using System.Linq;
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public class Serial2 : MonoBehaviour{
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public float x;
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public float y;
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public RotationControl bot;
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~Serial2() {
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serialPort.Close();
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}
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public bool enabled = false;
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SerialPort serialPort;
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public void Update()
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{
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if (serialPort == null)
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{
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serialPort = new SerialPort(@"\\.\" + "COM7", 115200);
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try
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{
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serialPort.NewLine = "\n";
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serialPort.Open();
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serialPort.DiscardOutBuffer();
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serialPort.DiscardInBuffer();
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enabled = true;
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}
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catch
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{
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enabled = false;
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}
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}
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if (enabled)
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{
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if (serialPort is SerialPort)
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{
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string received = serialPort.ReadLine();
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string[] data = received.Split(',');
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x = ConvertRadiansToDegrees(float.Parse(data.First()));
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y = ConvertRadiansToDegrees(float.Parse(data.Last()));
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bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1);
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}
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}
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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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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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}
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*/ |