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>
47 lines
1.7 KiB
Markdown
47 lines
1.7 KiB
Markdown
# Hexapod
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A six-legged walking robot (Teensy 4.0) and its handheld remote
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(Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
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```
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robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
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remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
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shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
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sim/ the unchanged robot firmware compiled into a DLL for the simulation
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Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
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LEGACY/ older material kept for reference
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scripts/ PlatformIO helper (per-environment sketch folder)
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```
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## Build (PlatformIO)
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```
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pio run # build both
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pio run -e robot -t upload
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pio run -e remote -t upload
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pio device monitor -e robot
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```
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## Simulation
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From the repo root in PowerShell (the dev PC is Windows):
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```
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.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
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```
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Then open `Hexapod_Simulation_Unity` and press Play. See
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[sim/README.md](sim/README.md).
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## Where to go next
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- **[robot/README.md](robot/README.md)**: placeholder geometry to measure,
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the bench-check checklist, and the serial test harness for driving the
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robot without a remote.
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- **[remote/README.md](remote/README.md)**: wiring, control scheme, stick
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calibration, and the remote's serial console.
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- **[remote/NEXTION.md](remote/NEXTION.md)**: how to build the touchscreen
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HMI.
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- **[shared/HexapodProtocol/HexapodProtocol.h](shared/HexapodProtocol/HexapodProtocol.h)**:
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the protocol. Change it only by reflashing both boards.
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