mangavalkandClaude Opus 4.7
b1c94e4149
The Teensy 3.6 carrier board mounted inside the robot body (Teensy
peeks through the top-body hole). Contents:
- PCB_test_2026-11-13.json : EasyEDA PCB source (editor v6.5.61).
- OBJ_test.obj + .mtl : EasyEDA 3D OBJ export (slab + holes only).
- top.png, bottom.png : EasyEDA renders of each side; bottom.png
is the authoritative source for the
JP1-JP7 silkscreen numbering.
- 20190524_234512.jpg : photo of the populated bottom side.
- 20190524_234518.jpg : photo of the top side, powered on.
- main-pcb.scad : parametric OpenSCAD reconstruction. Real
board outline, 4 M3 holes, and every major
component (Teensy 3.6, nRF24L01+, GY-521
IMU, 7805, ZENER, JP7 battery JST, six
JST-PH 2mm servo headers JP1-JP6, POWER
LED + 510R resistor, "Hexapod v1" silk) on
the correct side of the board. Placements
are the pad-group centres pulled from the
EasyEDA JSON, not eyeballed.
- README.md : explains the files, the EasyEDA format and
unit conversion, which side each part is
on, and an authoritative placement table.
Co-Authored-By: Claude Opus 4.7 <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/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.