mangavalkandClaude Opus 5.5
91b5b99fd5
hardware/openscad/ rebuilds the broken Fusion models as OpenSCAD: body (top/bottom plate, standoffs, battery bay, switch), legs (coxa bracket, femur link, tibia, horn adapters, TPU socks, servo cables), the whole robot, and the remote (shell, lid, Nextion 3.5", JH-D400X-R4 sticks, 18650 UPS board, IMU, Teensy 4.0, USB-C breakout). Every part was checked by slicing against the original STEP solids; the original's bugs are fixed and listed in PLANNING.md. The robot now uses a hexagon leg layout (corner legs 60 deg round from the mid legs; the corner coxa brackets need turning on their splines). Physical limits from a collision sweep of the model are in Config.h: per-leg coxa limits and LEG_CLEARANCE_MM 56 (a leg is 55.2 mm wide at the joints); the sim API exports them (version 7). sim_smoke passes. Unity loads the model (export_unity.py -> Resources/OpenScadModel, OpenScadModel.cs builds a new rig in place of the old scene's robot). The PCB model's mounting holes now use the exact EasyEDA grid. README shows renders of both. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Hexapod robot
Everything about my six-legged walking robot, from the first FPGA-driven version in 2009 to the current Teensy robot with its firmware-in-the-loop Unity simulation. Each generation has its own folder, named after the year it started, with its firmware, simulation, hardware, documents and photos together.
Working on the robot now? Go to 2026-current/. Everything else is history.
Timeline
| Folder | When | Hardware | What it did |
|---|---|---|---|
2009-fpga/ |
2009–2011 | FPGA, own frame design | the first version. The code is lost; photos, videos and the frame design (original-frame/, the base of every version up to 2023) are left |
2011-firefly-mega-ssc32/ |
2011–2012 | Arduino Mega 2560 + Lynxmotion SSC-32 | "FireFly": walking sequences with a Wii Nunchuk, later IR remote, ultrasonic radar head and GPS |
2012-simulation/ |
2012–2014 | PC | a Visual Studio leg-IK visualiser (2012) and a Processing 3D simulator (2014) |
2014-ik-core-task-queue/ |
≤ Feb 2014 | Arduino | a rewrite of the IK core around a task queue, without servo output yet |
2016-ssc32-processing-port/ |
~2016–2018 | Arduino + SSC-32 | the Processing simulator's classes ported to Arduino, driving the SSC-32 again |
2018-unity-sim/ |
2018–2023 | PC + SSC-32, later the Teensy | Unity computes the walking and drives the robot: first the SSC-32 over serial, from 2019 through the remote |
2019-teensy-nrf24/ |
2019–2022 | Teensy 3.6 on the robot (replaces the SSC-32), Teensy remote with Nextion screen, nRF24L01 | servo passthrough: Unity → remote over USB → radio → robot |
2026-current/ |
2026– | Teensy 3.6 robot, Teensy 4.1 remote, Fusion 360 designed parts | IK, gait, body pose and IMU stabilisation on the robot; the unchanged firmware also runs inside Unity |
Repository notes
- Photos, videos, PDFs, Office files, CAD and other binaries are stored with Git LFS (see
.gitattributes). A normal clone downloads them; setGIT_LFS_SKIP_SMUDGE=1to clone only the code. - Files are stored exactly as they were (no line-ending conversion), so old code is byte-for-byte the original.
- This repo was put together in October 2026 from the Gitea repos
Hexapod_2027,Hexapod,Hexapod-App,Hexapod-processing,Hexapod_Simulation_Unity,remoteandHexapod-Archief, the NAS folderProjecten\Electronics\Hexapod, the Arduino sketchbook and the Fusion 360 exports. The history of every repo exceptHexapod-Archiefis kept (its own history only held the same photos and videos again). Old code versions that only existed as rar files or backup folders are dated commits.