From 8bb621a7921c63923e66648d3e33a58923b6fded Mon Sep 17 00:00:00 2001 From: sl-mechanical Date: Fri, 3 Apr 2026 23:00:01 -0400 Subject: [PATCH] docs: Update chassis docs for ESP32 architecture (retire Mamba F722S) 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 --- chassis/ASSEMBLY.md | 14 ++++++++++---- chassis/BOM.md | 18 +++++++++++------- 2 files changed, 21 insertions(+), 11 deletions(-) diff --git a/chassis/ASSEMBLY.md b/chassis/ASSEMBLY.md index e7f10bc..f7b44cc 100644 --- a/chassis/ASSEMBLY.md +++ b/chassis/ASSEMBLY.md @@ -56,10 +56,15 @@ 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m. 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. -2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque. -3. Orient USB-C port toward front of robot for cable access. +2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only. +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 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 | | Motor fork slot width | 24 mm | +0.5 / 0 | | 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 | | Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm | diff --git a/chassis/BOM.md b/chassis/BOM.md index 0a92d8f..c86e3bd 100644 --- a/chassis/BOM.md +++ b/chassis/BOM.md @@ -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"` | | 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 | -| 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 | ### 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 +> ⚠️ **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 | |---|------|-----|------|-------| -| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | -| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation | -| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads | -| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | +| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces Mamba F722S | +| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O | +| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation | +| 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 | --- @@ -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 | | 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) | -| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous | -| 30 | M3×6 BHCS | 4 | ISO 4762, SS | FC board bolts | +| 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous | +| 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 | | 32 | Flat washer M5 | 32 | SS | | | 33 | Flat washer M4 | 32 | SS | |