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>
91 lines
4.4 KiB
C
91 lines
4.4 KiB
C
#pragma once
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// C API of hexapod_sim.dll: the unchanged robot firmware running against
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// simulated hardware. Consumed by Unity (Assets/HexapodSim/HexapodSimNative.cs)
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// and by the headless test (tests/sim_smoke.cpp).
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//
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// Conventions: robot body frame, mm and degrees - +X forward, +Y left, +Z up
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// (same as shared/HexapodProtocol). Per-leg arrays are [leg][joint or xyz]
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// flattened, leg order as in robot/Config.h, joints coxa/femur/tibia.
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//
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// One robot per loaded DLL: its globals are the firmware's globals. To reset
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// the robot, unload and reload the DLL (Unity does this on every Play).
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#include <stdint.h>
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#ifdef _WIN32
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#define HXSIM_API extern "C" __declspec(dllexport)
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#else
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#define HXSIM_API extern "C" __attribute__((visibility("default")))
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#endif
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// Bump whenever a signature or struct below changes; the C# side checks it.
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#define HXSIM_API_VERSION 5
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#define HXSIM_NUM_LEGS 6
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// All fields 4 bytes wide so C# can mirror this with LayoutKind.Sequential.
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typedef struct {
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int32_t num_legs;
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float mount_x_mm[HXSIM_NUM_LEGS];
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float mount_y_mm[HXSIM_NUM_LEGS];
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float mount_angle_deg[HXSIM_NUM_LEGS];
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float coxa_mm, femur_mm, tibia_mm;
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float stance_radius_mm, stance_height_mm;
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float coxa_min_deg, coxa_max_deg;
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float femur_min_deg, femur_max_deg;
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float tibia_min_deg, tibia_max_deg;
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float control_hz;
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int32_t servo_us_at_0deg;
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int32_t servo_us_per_deg;
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float leg_clearance_mm; // LEG_CLEARANCE_MM: minimum gap between neighbouring legs' segments
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float stance_height_range_mm; // CmdPacket.body_height +-1000 moves the height by this much
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} HxGeometry;
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typedef struct {
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int32_t robot_state; // 0 DISARMED, 1 SIT, 2 STAND, 3 WALKING
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float sit_stand_blend; // 0 sit .. 1 stand
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int32_t link_ok; // Comms::linkOk()
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float heading_deg; // robot.ino's open-loop heading estimate
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float imu_roll_deg; // RobotIMU filter output
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float imu_pitch_deg;
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int32_t imu_enabled; // robot-gyro toggle as the robot sees it
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uint32_t sim_time_ms;
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uint32_t control_ticks; // loop() passes that ran the control step
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int32_t stance_mask; // bit i = leg i in stance per the gait engine
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float pose_reach_scale; // 1 = full commanded body pose; less = scaled down to what the legs can reach
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float twist_scale; // 1 = walk command as sent; less = slowed to a stride the legs can take
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float stance_height_mm; // current (rate-limited) standing height: feet below hips
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} HxStatus;
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HXSIM_API int32_t hxsim_api_version(void);
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HXSIM_API int32_t hxsim_packet_size(void); // sizeof(CmdPacket) as compiled
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HXSIM_API void hxsim_get_geometry(HxGeometry* out);
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// Hardware present at power-on. Call before hxsim_start().
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HXSIM_API void hxsim_set_radio_present(int32_t present);
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HXSIM_API void hxsim_set_imu_present(int32_t present);
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HXSIM_API void hxsim_start(void); // runs setup() once
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// Advances simulated time by dt_us, calling loop() every HXSIM_LOOP_PERIOD_US
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// like the real busy loop (loop() itself holds the CONTROL_HZ rate).
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HXSIM_API void hxsim_step(uint32_t dt_us);
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// Inputs
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HXSIM_API void hxsim_radio_send(const uint8_t* bytes, int32_t len); // one packet on air
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HXSIM_API void hxsim_set_ground_tilt(float roll_deg, float pitch_deg); // tilt the world (robot-gyro tests)
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// The MPU6050 is normally fed from the kinematic body model (SimBody.cpp).
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// Calling this overrides it with fixed readings from then on.
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HXSIM_API void hxsim_set_imu(float ax_g, float ay_g, float az_g,
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float gx_dps, float gy_dps, float gz_dps);
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HXSIM_API void hxsim_serial_input(const char* bytes, int32_t len); // TEST_SERIAL_INPUT keys
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// Outputs
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HXSIM_API int32_t hxsim_serial_output(char* out, int32_t cap); // drains robot Serial prints
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HXSIM_API void hxsim_get_servos(int32_t* us_18, int32_t* attached_18, uint32_t* writes_18);
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HXSIM_API void hxsim_get_joints_deg(float* deg_18); // servo pulses decoded with Config.h constants
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HXSIM_API void hxsim_get_feet_mm(float* xyz_18); // forward kinematics of those angles, body frame
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HXSIM_API void hxsim_get_status(HxStatus* out);
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// Kinematic body (SimBody.cpp): the body rests on the support plane of its
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// feet and grounded feet don't slide. World frame = robot frame at power-on,
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// ground at z = 0. Any pointer may be null.
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HXSIM_API void hxsim_get_body(float* pos_mm_3, float* quat_wxyz_4, float* yaw_deg, int32_t* contact_mask);
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