Merge pull request 'feat: remove balance-bot safety constraints from ESP32 Balance firmware' (#734) from sl-firmware/non-balance-bot-hoverboard-drive into main

2026-04-20 19:14:40 -04:00 · 2026-04-20 19:14:40 -04:00 · 97367829d3
commit 97367829d3
parent 47d0631d81 04922ac875
2 changed files with 3 additions and 6 deletions
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@ -50,5 +50,3 @@
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
 #define RPM_PER_STEER_UNIT      3       /* steer differential scale */

-/* ── Tilt cutoff ── */
-#define TILT_CUTOFF_DEG         25.0f
--- a/esp32s3/balance/main/orin_serial.h
+++ b/esp32s3/balance/main/orin_serial.h
@ -55,7 +55,6 @@
 typedef enum {
    BAL_DISARMED = 0,
    BAL_ARMED    = 1,
-    BAL_TILT_FAULT = 2,
    BAL_ESTOP    = 3,
 } bal_state_t;