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>
57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
#pragma once
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// PC stand-in for the Arduino core, just enough for robot/ to compile
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// unchanged into the simulation DLL. Only on the sim's include path - the
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// Teensy build never sees this file.
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#include <stdint.h>
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#include <stddef.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <type_traits>
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#ifndef PI
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#define PI 3.1415926535897932384626433832795
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#endif
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// Arduino defines these as macros; templates behave the same for every use
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// in robot/ without the double-evaluation surprises.
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template <class T, class L, class H>
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constexpr T constrain(T amt, L low, H high) {
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return amt < low ? (T)low : (amt > high ? (T)high : amt);
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}
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template <class A, class B>
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constexpr typename std::common_type<A, B>::type min(A a, B b) { return a < b ? a : b; }
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template <class A, class B>
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constexpr typename std::common_type<A, B>::type max(A a, B b) { return a > b ? a : b; }
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inline double radians(double deg) { return deg * (PI / 180.0); }
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inline double degrees(double rad) { return rad * (180.0 / PI); }
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// Simulated clock, advanced by the simulation (see SimHardware.cpp).
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uint32_t millis();
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uint32_t micros();
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void delay(uint32_t ms);
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void delayMicroseconds(uint32_t us);
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// USB serial: output is captured for Unity, input is fed from Unity.
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class SimSerial {
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public:
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void begin(unsigned long) {}
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int available();
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int read();
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size_t write(uint8_t c);
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size_t print(const char* s);
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size_t print(char c) { return write((uint8_t)c); }
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size_t print(int v) { return printf("%d", v); }
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size_t print(unsigned v) { return printf("%u", v); }
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size_t print(long v) { return printf("%ld", v); }
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size_t print(unsigned long v) { return printf("%lu", v); }
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size_t print(double v) { return printf("%.2f", v); }
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template <class T> size_t println(T v) { size_t n = print(v); return n + print("\n"); }
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size_t println() { return print("\n"); }
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size_t printf(const char* fmt, ...);
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operator bool() const { return true; }
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};
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extern SimSerial Serial;
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