mangavalkandClaude Opus 5.5
a961fa721b
- LEGACY/remote/teensy/: old remote sketch from https://mangavalk.com/Hexapod/remote.git @ 492dece (reference only). - remote/Config.h: sticks on A0-A5, Nextion on Serial1 (0/1), as in the old sketch; MPU6050 moved to Wire2 (25/24) since A4/A5 are Wire's pins. - NextionUI: controls on a vscope-global "control" page added to the old HMI; keeps the old t1 status texts; the old page-1 b2 button (and serial 'U') enter Nextion upload passthrough, following the PC's baud. - Docs: NEXTION.md, remote README wiring, CLAUDE.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Hexapod
A six-legged walking robot (Teensy 4.0) and its handheld remote (Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
sim/ the unchanged robot firmware compiled into a DLL for the simulation
Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
LEGACY/ older material kept for reference
scripts/ PlatformIO helper (per-environment sketch folder)
Build (PlatformIO)
pio run # build both
pio run -e robot -t upload
pio run -e remote -t upload
pio device monitor -e robot
Simulation
From the repo root in PowerShell (the dev PC is Windows):
.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
Then open Hexapod_Simulation_Unity and press Play. See
sim/README.md.
Where to go next
- robot/README.md: placeholder geometry to measure, the bench-check checklist, and the serial test harness for driving the robot without a remote.
- remote/README.md: wiring, control scheme, stick calibration, and the remote's serial console.
- remote/NEXTION.md: how to build the touchscreen HMI.
- shared/HexapodProtocol/HexapodProtocol.h: the protocol. Change it only by reflashing both boards.