mangavalkandClaude Opus 5.5
5ff85c4eb8
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only). - platformio.ini: robot env targets teensy36 (owner-confirmed board). - Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed us/deg, pulse limits) built from the old sketch's pins, ranges, trims and the old Unity servo directions. Rear-left/front-left coxa offsets set to 0: the owner re-horns those two servos (the old +-90 left them at the end of travel; the sim showed them clamping). - ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6 Servo library stops at 12. - Radio on CE 39 / CSN 15 with SPI SCK on pin 14. - sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6). - Docs: CLAUDE.md, READMEs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
30 lines
532 B
C
30 lines
532 B
C
#ifndef dataStruct
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#define dataStruct
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struct __attribute__((__packed__)) dataStruct2
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{
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bool STOP = false;
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float walkSpeed = 10; //step size
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float walkSpeed2 = 0; //gate speed
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float walkRotation = 0 ;
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float walkDirection = 0;
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float tranform[3] = {0, 0, 0};
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float tranform2[3] = {0, 0, 0};
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float rotation[3] = {0, 0, 0};
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bool remotePasstroughControl = true;
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float servoPositions[18] = {
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90, 90, 90,
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90, 90, 90,
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90, 90, 90,
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90, 90, 90,
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90, 90, 90,
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90, 90, 90
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};
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} dataStruct;
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#endif
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