mangavalkandClaude Opus 5.5
cb1e9234c6
Fusion 360 STL exports of the body, legs, hinges, foot, servo horn and test legs into robot-parts/, and an early remote part into remote-case/. Found in an old Hexapod folder; the remote files that came with them were already in the repo. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
1.4 KiB
1.4 KiB
2019–2022: Teensy robot and Teensy remote
The SSC-32 was replaced by a Teensy 3.6 on the robot that drives the 18 servos itself, and a second Teensy
became the handheld remote. They talk over nRF24L01 (RF24Network, channel 90). The robot has no IK of its own:
it plays the servo angles it receives, which come from the Unity simulation (../2018-unity-sim/) through the
remote's USB passthrough, or from the remote's sliders.
| Folder | What |
|---|---|
Hexapod_Teensy/ |
robot: PWMServo on 18 pins, per-servo ranges and trims (config.h), MPU6050, nRF24 (CE 39, CSN 15, SCK 14) |
remote/ |
remote: Nextion screen, 6 joystick axes with EEPROM calibration, MPU6050, nRF24 (CE 9, CSN 10), USB passthrough at 250000 |
remote-nextion/ |
remote.HMI, the Nextion Editor design (6 pages: servo monitor, upload screen) |
remote-case/ |
3D-print files of the remote case and bezel, an Arduino Mega cover plate, a font |
robot-parts/ |
May 2019 Fusion 360 STL exports of the robot's printed parts: body top and bottom, legs, hinges, foot (sock.stl), Hitec servo horn, test legs. Early versions of the designs in ../2026-current/hardware/fusion360/ |
tests/ |
May 2019 bring-up sketches: SSC-32 command emulator (first step to replacing the SSC-32), nRF24 and MPU6050 tests with the robot's pins |
Its hardware facts (pins, ranges, trims) were carried over into ../2026-current/robot/Config.h.