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>
4.7 KiB
Nextion HMI build guide
The owner's earlier 6-page HMI is in
LEGACY/remote/remote.HMI. This guide describes the minimal single page the current firmware expects. To reuse the old HMI instead,NextionUIhas to be changed to match its component names.
The firmware drives the display by component name, and the display talks back with small custom frames sent from each button's touch event. Build one page in Nextion Editor to match the tables below. Layout, fonts and colors are up to you. The names and event code must match exactly.
The remote is authoritative. Use plain Button components (not Dual-state buttons) and don't toggle anything locally in the HMI. The remote repaints every label and color from its own state, including a full redraw every 2 s and whenever the display reboots.
Program.s / page setup
In Program.s, before page 0, add:
bauds=115200
This sets the display to the NEXTION_BAUD in remote/Config.h. The
display ships at 9600, and bauds= persists across power cycles.
Name the page main (page 0). The firmware never changes pages.
Components
Text components need txt_maxl at least as large as the longest string the firmware writes. Button bounds here allow some slack.
| Name | Type | txt_maxl | Firmware writes |
|---|---|---|---|
bArm |
Button | 10 | ARMED / DISARMED, bco red / gray |
bKill |
Button | – | nothing (static "DISARM" label, make it red) |
bStand |
Button | 6 | STAND / SIT, bco green / gray |
bGait |
Button | 8 | TRIPOD / WAVE |
bMode |
Button | 8 | DIRECT / HEADING |
bRs |
Button | 10 | R: ROTATE / R: MOVE |
bRGyro |
Button | – | bco green / gray (label it "REMOTE GYRO") |
bBGyro |
Button | – | bco green / gray (label it "ROBOT GYRO") |
hSpeed |
Slider | – | val 0..255 (set maxval = 255) |
nSpeed |
Number | – | val 0..100 (speed %) |
hHeight |
Slider | – | val 0..200, 100 = default (set maxval = 200) |
nHeight |
Number | – | val -100..100 (height offset %) |
bCal |
Button | 9 | CAL / SAVE CAL, bco orange while active |
bCalX |
Button | – | nothing (static "CANCEL CAL") |
bZero |
Button | – | nothing (static "LEVEL") |
tLink |
Text | 10 | LINK 97% / NO LINK, pco green / red |
tMsg |
Text | 40 | status / rejection messages |
Touch events
Put this in each component's Touch Release Event (the Speed slider
uses Touch Move as well so the value tracks your finger). Frame format:
'#' (0x23), length, command byte, optional value byte.
| Component | Event code | Command |
|---|---|---|
bArm |
printh 23 01 41 |
A toggle arm (needs sticks centered) |
bKill |
printh 23 01 4B |
K disarm, always accepted |
bStand |
printh 23 01 53 |
S toggle sit/stand |
bGait |
printh 23 01 47 |
G tripod ↔ wave |
bMode |
printh 23 01 4D |
M direct ↔ heading-hold |
bRs |
printh 23 01 58 |
X right stick rotate ↔ translate |
bRGyro |
printh 23 01 52 |
R remote-gyro tilt on/off |
bBGyro |
printh 23 01 42 |
B robot self-stabilize on/off |
hSpeed |
printh 23 02 56prints hSpeed.val,1 |
V + speed byte |
hHeight |
printh 23 02 48prints hHeight.val,1 |
H + height byte (Touch Move + Release) |
bZero |
printh 23 01 5A |
Z zero handset level |
bCal |
printh 23 01 43 |
C start / save stick calibration |
bCalX |
printh 23 01 51 |
Q cancel calibration |
Uncheck "Send Component ID" on every component. The firmware ignores standard touch frames, and they only add serial traffic.
Protocol details and the parser live in NextionUI.h/.cpp. To add a
control, pick an unused command byte, add it to NextionUI::decodeCustom()
and UiCmd, handle it in RemoteState::handle(), and add a row here.