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docs: Update chassis docs for ESP32 architecture (retire Mamba F722S)

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Replace Mamba F722S / STM32F722 references in BOM.md and ASSEMBLY.md
with ESP32 BALANCE + ESP32 IO. Board dimensions marked TBD pending
spec from max.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-mechanical 2026-04-03 23:00:01 -04:00 committed by sl-firmware
parent 30b0f245e1
commit 5e97676703
2 changed files with 21 additions and 11 deletions
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14
chassis/ASSEMBLY.md
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@ -56,10 +56,15 @@
3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m. 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
4. Insert battery pack; route Velcro straps through slots and cinch. 4. Insert battery pack; route Velcro straps through slots and cinch.
### 7 FC mount (MAMBA F722S) ### 7 MCU mount (ESP32 BALANCE + ESP32 IO)
> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S retired. Two ESP32 boards replace it.
> Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
1. Place silicone anti-vibration grommets onto nylon M3 standoffs. 1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque. 2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
3. Orient USB-C port toward front of robot for cable access. 3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
4. Orient USB connectors toward front of robot for cable access.
### 8 Jetson Nano mount plate ### 8 Jetson Nano mount plate
1. Press or thread M3 nylon standoffs (8mm) into plate holes. 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
@ -86,7 +91,8 @@
| Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm | | Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm |
| Motor fork slot width | 24 mm | +0.5 / 0 | | Motor fork slot width | 24 mm | +0.5 / 0 |
| Motor fork dropout depth | 60 mm | ±0.5 mm | | Motor fork dropout depth | 60 mm | ±0.5 mm |
| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm | | ESP32 BALANCE hole pattern | TBD — await spec from max | ±0.2 mm |
| ESP32 IO hole pattern | TBD — await spec from max | ±0.2 mm |
| Jetson hole pattern | 58 × 58 mm | ±0.2 mm | | Jetson hole pattern | 58 × 58 mm | ±0.2 mm |
| Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm | | Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm |

18
chassis/BOM.md
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@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
| 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` | | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
| 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` | | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
| 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative | | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation | | 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment | | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
@ -88,12 +88,16 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
## Electronics Mounts ## Electronics Mounts
> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) is retired.
> Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max.
| # | Part | Qty | Spec | Notes | | # | Part | Qty | Spec | Notes |
|---|------|-----|------|-------| |---|------|-----|------|-------|
| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | | 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces Mamba F722S |
| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation | | 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads | | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs | | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
--- ---
@ -144,8 +148,8 @@ Slide entire carousel up/down the stem with M6 collar bolts loosened. Tighten at
| 26 | M6×60 SHCS | 4 | ISO 4762, SS | Collar clamping bolts | | 26 | M6×60 SHCS | 4 | ISO 4762, SS | Collar clamping bolts |
| 27 | M6 hex nut | 4 | ISO 4032, SS | Captured in collar pockets | | 27 | M6 hex nut | 4 | ISO 4032, SS | Captured in collar pockets |
| 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) | | 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) |
| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous | | 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous |
| 30 | M3×6 BHCS | 4 | ISO 4762, SS | FC board bolts | | 30 | M3×6 BHCS | 4 | ISO 4762, SS | ESP32 board bolts (qty TBD pending board spec) |
| 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor | | 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor |
| 32 | Flat washer M5 | 32 | SS | | | 32 | Flat washer M5 | 32 | SS | |
| 33 | Flat washer M4 | 32 | SS | | | 33 | Flat washer M4 | 32 | SS | |