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>
33 lines
1.4 KiB
C++
33 lines
1.4 KiB
C++
#include "SerialConsole.h"
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#include <Arduino.h>
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bool SerialConsole::poll(UiEvent& ui, Local& local) {
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ui = UiEvent{};
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local = Local::None;
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while (Serial.available()) {
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char c = Serial.read();
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switch (c) {
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case 'a': ui.cmd = UiCmd::ToggleArm; return true;
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case 'k': ui.cmd = UiCmd::Disarm; return true;
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case 's': ui.cmd = UiCmd::ToggleStand; return true;
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case 'g': ui.cmd = UiCmd::ToggleGait; return true;
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case 'm': ui.cmd = UiCmd::ToggleWalkMode; return true;
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case 't': ui.cmd = UiCmd::ToggleRStickXlate; return true;
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case 'r': ui.cmd = UiCmd::ToggleRemoteGyro; return true;
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case 'b': ui.cmd = UiCmd::ToggleRobotGyro; return true;
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case '+': case '=': ui.cmd = UiCmd::SpeedUp; return true;
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case '-': case '_': ui.cmd = UiCmd::SpeedDown; return true;
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case ']': ui.cmd = UiCmd::HeightUp; return true;
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case '[': ui.cmd = UiCmd::HeightDown; return true;
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case 'z': ui.cmd = UiCmd::ZeroGyro; return true;
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case 'c': ui.cmd = UiCmd::CalStartSave; return true;
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case 'x': ui.cmd = UiCmd::CalCancel; return true;
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case 'p': local = Local::PrintStatus; return true;
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case 'd': local = Local::ToggleDump; return true;
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case 'R': local = Local::ResetCal; return true;
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default: break; // ignore line endings and unknown keys
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}
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}
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return false;
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}
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