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
A six-legged walking robot (Teensy 3.6) and its handheld remote (Teensy 4.1 + Nextion touchscreen), linked over nRF24L01.
robot/ robot firmware: IK, gait, body pose, IMU stabilization, state machine
remote/ remote firmware: 2 x 3-axis sticks, MPU6050 tilt, Nextion UI, RF24 TX
shared/ HexapodProtocol: the CmdPacket wire format + radio settings used by both
sim/ the unchanged robot firmware compiled into a DLL for the simulation
Hexapod_Simulation_Unity/ Unity project that runs that DLL on the 3D model
hardware/openscad/ OpenSCAD model of the robot and remote, rebuilt from the Fusion designs
hardware/fusion360/ Fusion 360 designs: body, legs, servo, servo horn, remote case
scripts/ PlatformIO helper (per-environment sketch folder)
This is the 2026-current/ folder of the hexapod-robot repo; the earlier
generations (2009 onwards) are in the folders next to it, see
../README.md.
Build (PlatformIO)
pio run # build both
pio run -e robot -t upload
pio run -e remote -t upload
pio device monitor -e robot
Simulation
From this 2026-current folder in PowerShell (the dev PC is Windows):
.\sim\build.ps1 # build hexapod_sim.dll + run the headless firmware checks
Then open Hexapod_Simulation_Unity and press Play. See
sim/README.md.
Where to go next
- robot/README.md: placeholder geometry to measure, the bench-check checklist, and the serial test harness for driving the robot without a remote.
- remote/README.md: wiring, control scheme, stick calibration, and the remote's serial console.
- remote/NEXTION.md: how to build the touchscreen HMI.
- shared/HexapodProtocol/HexapodProtocol.h: the protocol. Change it only by reflashing both boards.