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>
20 lines
1.2 KiB
XML
20 lines
1.2 KiB
XML
<!-- auto-generated. do not modify by hand. -->
|
|
<dependencies>
|
|
<androidPackages>
|
|
<repositories>
|
|
<repository>https://unity3ddist.jfrog.io/artifactory/unity-mediation-mvn-prod-local/</repository>
|
|
</repositories>
|
|
<!-- Mediation Android SDK -->
|
|
<androidPackage spec="com.unity3d.mediation:mediation-sdk:[1.0,2.0[" mediation-identifier="mediation-sdk" mediation-version="1.0" />
|
|
<!-- Mediation SDK Android Adapters -->
|
|
<androidPackage spec="com.unity3d.mediation:unityads-adapter:[1.0,2.0[" mediation-identifier="unityads-adapter" mediation-version="latest" />
|
|
</androidPackages>
|
|
<iosPods>
|
|
<!-- Mediation iOS SDK -->
|
|
<iosPod name="UnityMediationSdk" version="~> 1.0" source="'https://github.com/Unity-Technologies/unity-mediation-cocoapods-prod.git'" mediation-identifier="mediation-sdk" mediation-version="1.0" />
|
|
<!-- Mediation Dependency Required For resolution -->
|
|
<iosPod name="Protobuf" />
|
|
<!-- Mediation SDK iOS Adapters -->
|
|
<iosPod name="UnityMediationUnityAdapter" version="" source="'https://github.com/Unity-Technologies/unity-mediation-cocoapods-prod.git'" mediation-identifier="unityads-adapter" mediation-version="latest" />
|
|
</iosPods>
|
|
</dependencies> |