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>
84 lines
3.9 KiB
C++
84 lines
3.9 KiB
C++
#pragma once
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#include <Arduino.h>
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// =====================================================================
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// Everything in this file is a placeholder for a typical small hexapod.
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// Measure your own robot and edit these before trusting it on the floor.
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// =====================================================================
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// ---- Leg geometry ----
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// Taken from the Unity model (Hexapod_Simulation_Unity/Assets/Main.unity,
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// 1 Unity unit = 10 mm): hip pivots at x = +-10 / 0, z = +-5 / +-6.5;
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// coxa 5.5, femur 10, tibia 15. BENCH: confirm against the real chassis.
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constexpr int NUM_LEGS = 6;
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// Leg order: 0=front-right, 1=mid-right, 2=rear-right, 3=rear-left, 4=mid-left, 5=front-left
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// Angles measured counterclockwise from the body's +X (forward) axis, viewed from above.
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// This is the direction the coxa points at servo center: straight sideways on this chassis.
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constexpr float LEG_MOUNT_ANGLE_DEG[NUM_LEGS] = { -90, -90, -90, 90, 90, 90 };
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constexpr float LEG_MOUNT_X_MM[NUM_LEGS] = { 100, 0, -100, -100, 0, 100 };
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constexpr float LEG_MOUNT_Y_MM[NUM_LEGS] = { -50, -65, -50, 50, 65, 50 };
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constexpr float COXA_LEN_MM = 55.0f;
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constexpr float FEMUR_LEN_MM = 100.0f;
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constexpr float TIBIA_LEN_MM = 150.0f;
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// ---- Joint limits, degrees ----
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constexpr float COXA_MIN_DEG = -60, COXA_MAX_DEG = 60;
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constexpr float FEMUR_MIN_DEG = -80, FEMUR_MAX_DEG = 80;
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constexpr float TIBIA_MIN_DEG = -150, TIBIA_MAX_DEG = -20;
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// ---- Neutral stance, relative to each leg's own coxa pivot ----
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// From the Unity model's rest foot point: 130 mm out from the coxa pivot
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// (= COXA_LEN_MM + 75), 150 mm below it.
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constexpr float STANCE_RADIUS_MM = 75.0f; // how far out the foot rests, beyond the coxa
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constexpr float STANCE_HEIGHT_MM = 150.0f; // how far below the coxa pivot the foot rests (default height)
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// The remote's height slider (CmdPacket.body_height) moves the standing
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// height by up to this much either way (100..200 mm here - both ends checked
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// reachable in the simulation), at no more than STANCE_HEIGHT_RATE_MM_S.
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constexpr float STANCE_HEIGHT_RANGE_MM = 50.0f;
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constexpr float STANCE_HEIGHT_RATE_MM_S = 60.0f;
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// ---- Leg collision ----
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// Minimum distance between the center lines of neighbouring legs' segments
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// (coxa, femur, tibia). Gait strides and body poses are scaled down to keep
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// it. BENCH: set to roughly the width of a leg (servo body + bracket).
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constexpr float LEG_CLEARANCE_MM = 30.0f;
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// ---- Servo pins (Teensy 4.0). Verify these are PWM-capable on your board. ----
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// Order per leg: coxa, femur, tibia.
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constexpr uint8_t SERVO_PINS[NUM_LEGS][3] = {
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{ 2, 3, 4 }, // leg 0
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{ 5, 6, 7 }, // leg 1
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{ 8, 9, 10 }, // leg 2
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{ 11, 12, 24 }, // leg 3
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{ 25, 26, 27 }, // leg 4
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{ 28, 29, 30 }, // leg 5
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};
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// Microseconds at 0deg and per additional degree. Calibrate per servo - they vary.
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constexpr int SERVO_US_AT_0DEG = 1500;
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constexpr int SERVO_US_PER_DEG = 10;
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// ---- Gait timing ----
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constexpr float DEFAULT_CYCLE_SEC = 0.8f; // one full gait cycle at neutral speed
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constexpr float SWING_LIFT_MM = 35.0f;
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// ---- Control loop ----
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constexpr float CONTROL_HZ = 60.0f;
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// ---- Radio (nRF24L01) ----
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// Address/channel/data rate/PA/payload size live in shared/HexapodProtocol
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// so the robot and remote can't drift apart. Only this board's wiring is here.
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constexpr uint8_t RADIO_CE_PIN = 33;
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constexpr uint8_t RADIO_CSN_PIN = 34;
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constexpr float LINK_TIMEOUT_SEC = 0.3f;
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// ---- Robot-gyro self-leveling ----
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// Integral gain (1/s): a leftover tilt of 1 deg changes the correction by
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// this many deg/s. Higher levels faster but can wobble. BENCH: tune on the robot.
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constexpr float ROBOT_GYRO_KI = 3.0f;
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constexpr float ROBOT_GYRO_MAX_CORR_DEG = 15.0f; // steepest slope it will level out
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// ---- Setpoint smoothing rates ----
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constexpr float POSE_TILT_MAX_RATE_DEG = 120.0f; // roll/pitch/yaw offset, deg/s
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constexpr float POSE_OFFSET_MAX_RATE_MM = 150.0f; // X/Y/Z offset, mm/s
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