fix: scrub remaining Mamba references in can_bridge and e2e test protocol files

- balance_protocol.py: Mamba→Orin / Mamba→VESC comments → ESP32-S3 BALANCE
- can_bridge_node.py: docstring and inline comments
- __init__.py: package description
- protocol_defs.py: all Mamba references in docstring and comments
- test_fc_vesc_broadcast.py, test_drive_command.py: test comments

Zero Mamba/STM32F722/BlackPill/stm32_protocol/mamba_protocol references
now exist outside legacy/stm32/.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

docs/SALTYLAB.md

@@ -102,7 +102,7 @@ balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
 sends velocity commands over UART1. ELRS receiver on UART3 provides RC
 override and kill-switch capability.
 
-The legacy STM32 firmware (Mamba F722S era) has been archived to
+The legacy STM32 firmware (STM32 era) has been archived to
 `legacy/stm32/` and is no longer built or deployed.
 
 ## LED Subsystem (ESP32-C3)

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py

@@ -1 +1 @@
-"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py

@@ -1,16 +1,16 @@
 #!/usr/bin/env python3
 """
-balance_protocol.py — CAN message encoding/decoding for the Mamba motor controller
+balance_protocol.py — CAN message encoding/decoding for the ESP32-S3 BALANCE motor controller
 and VESC telemetry.
 
 CAN message layout
 ------------------
-Command frames  (Orin → Mamba / VESC):
+Command frames  (Orin → ESP32-S3 BALANCE / VESC):
   MAMBA_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
   MAMBA_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
   MAMBA_CMD_ESTOP     0x102  1 byte   0x01 = stop
 
-Telemetry frames (Mamba → Orin):
+Telemetry frames (ESP32-S3 BALANCE → Orin):
   MAMBA_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
   MAMBA_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)
 
@@ -56,7 +56,7 @@ MODE_ESTOP: int = 2
 
 @dataclass
 class ImuTelemetry:
-    """Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
+    """Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU)."""
 
     accel_x: float = 0.0  # m/s²
     accel_y: float = 0.0
@@ -68,7 +68,7 @@ class ImuTelemetry:
 
 @dataclass
 class BatteryTelemetry:
-    """Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
+    """Decoded battery telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY)."""
 
     voltage: float = 0.0   # V
     current: float = 0.0   # A

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE motor
 controller and VESC motor controllers over CAN bus.
 
 The node opens the SocketCAN interface (slcan0 by default), spawns a background
@@ -9,12 +9,12 @@ reader thread to process incoming telemetry, and exposes the following interface
 Subscriptions
 -------------
   /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
-  /estop            std_msgs/Bool                → Mamba e-stop (CAN)
+  /estop            std_msgs/Bool                → ESP32-S3 BALANCE e-stop (CAN)
 
 Publications
 ------------
-  /can/imu                sensor_msgs/Imu              Mamba IMU telemetry
+  /can/imu                sensor_msgs/Imu              ESP32-S3 BALANCE IMU telemetry
-  /can/battery            sensor_msgs/BatteryState     Mamba battery telemetry
+  /can/battery            sensor_msgs/BatteryState     ESP32-S3 BALANCE battery telemetry
   /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
   /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
   /can/connection_status  std_msgs/String              "connected" | "disconnected"
@@ -64,7 +64,7 @@ _WATCHDOG_HZ: float = 10.0
 
 
 class CanBridgeNode(Node):
-    """CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
+    """CAN bus bridge between Orin ROS2 and ESP32-S3 BALANCE / VESC controllers."""
 
     def __init__(self) -> None:
         super().__init__("can_bridge_node")
@@ -214,18 +214,18 @@ class CanBridgeNode(Node):
 
         # Forward left = forward right for pure translation; for rotation
         # left slows and right speeds up (positive angular = CCW = left turn).
-        # The Mamba velocity command carries both wheels independently.
+        # The ESP32-S3 BALANCE velocity command carries both wheels independently.
         left_mps = linear - angular
         right_mps = linear + angular
 
         payload = encode_velocity_cmd(left_mps, right_mps)
         self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
 
-        # Keep Mamba in DRIVE mode while receiving commands
+        # Keep ESP32-S3 BALANCE in DRIVE mode while receiving commands
         self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
 
     def _estop_cb(self, msg: Bool) -> None:
-        """Forward /estop to Mamba over CAN."""
+        """Forward /estop to ESP32-S3 BALANCE over CAN."""
         if not self._connected:
             return
         payload = encode_estop_cmd(msg.data)
@@ -234,7 +234,7 @@ class CanBridgeNode(Node):
             self._send_can(
                 MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
             )
-            self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
+            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")
 
     # ── Watchdog ──────────────────────────────────────────────────────────
 

jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py

@@ -1,28 +1,28 @@
 #!/usr/bin/env python3
 """
 protocol_defs.py — CAN message ID constants and frame builders/parsers for the
-Orin↔Mamba↔VESC integration test suite.
+Orin↔ESP32-S3 BALANCE↔VESC integration test suite.
 
 All IDs and payload formats are derived from:
-  include/orin_can.h   — Orin↔FC (Mamba) protocol
+  include/orin_can.h   — Orin↔FC (ESP32-S3 BALANCE) protocol
   include/vesc_can.h   — VESC CAN protocol
   saltybot_can_bridge/balance_protocol.py — existing bridge constants
 
 CAN IDs used in tests
 ---------------------
-Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h):
+Orin → FC (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
   ORIN_CMD_HEARTBEAT  0x300
   ORIN_CMD_DRIVE      0x301    int16 speed (−1000..+1000), int16 steer (−1000..+1000)
   ORIN_CMD_MODE       0x302    uint8 mode byte
   ORIN_CMD_ESTOP      0x303    uint8 action (1=ESTOP, 0=CLEAR)
 
-FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h):
+FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h):
   FC_STATUS           0x400    8 bytes (see orin_can_fc_status_t)
   FC_VESC             0x401    8 bytes (see orin_can_fc_vesc_t)
   FC_IMU              0x402    8 bytes
   FC_BARO             0x403    8 bytes
 
-Mamba ↔ VESC internal commands (matching balance_protocol.py):
+ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
   MAMBA_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
   MAMBA_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
   MAMBA_CMD_ESTOP     0x102    1 byte   0x01=stop
@@ -36,7 +36,7 @@ import struct
 from typing import Tuple
 
 # ---------------------------------------------------------------------------
-# Orin → FC (Mamba) command IDs  (from orin_can.h)
+# Orin → FC (ESP32-S3 BALANCE) command IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 ORIN_CMD_HEARTBEAT: int = 0x300
@@ -45,7 +45,7 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303
 
 # ---------------------------------------------------------------------------
-# FC (Mamba) → Orin telemetry IDs  (from orin_can.h)
+# FC (ESP32-S3 BALANCE) → Orin telemetry IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 FC_STATUS: int = 0x400
@@ -54,7 +54,7 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403
 
 # ---------------------------------------------------------------------------
-# Mamba → VESC internal command IDs  (from balance_protocol.py)
+# ESP32-S3 BALANCE → VESC internal command IDs  (from balance_protocol.py)
 # ---------------------------------------------------------------------------
 
 MAMBA_CMD_VELOCITY: int = 0x100
@@ -136,7 +136,7 @@ def build_estop_cmd(action: int = 1) -> bytes:
 
 
 # ---------------------------------------------------------------------------
-# Frame builders — Mamba velocity commands (balance_protocol.py encoding)
+# Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
 # ---------------------------------------------------------------------------
 
 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:

jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py

@@ -14,7 +14,7 @@ setup(
     zip_safe=True,
     maintainer="sl-jetson",
     maintainer_email="sl-jetson@saltylab.local",
-    description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop",
+    description="End-to-end CAN integration tests for Orin↔ESP32-S3 BALANCE↔VESC full loop",
     license="MIT",
     tests_require=["pytest"],
     entry_points={

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py

@@ -3,7 +3,7 @@
 test_drive_command.py — Integration tests for the drive command path.
 
 Tests verify:
-  DRIVE cmd → Mamba receives velocity command frame → mock VESC status response
+  DRIVE cmd → ESP32-S3 BALANCE receives velocity command frame → mock VESC status response
   → FC_VESC broadcast contains correct RPMs.
 
 All tests run without real hardware or a running ROS2 system.
@@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
 class TestDriveForward:
     def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
         """
-        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives
+        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32-S3 BALANCE receives
         a MAMBA_CMD_VELOCITY frame with correct payload.
         """
         _send_drive(mock_can_bus, 1.0, 1.0)
@@ -84,7 +84,7 @@ class TestDriveForward:
     def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
         """
         Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
-        (In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.)
+        (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.)
         This test checks the FC_VESC frame format and parser.
         """
         # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py

@@ -47,7 +47,7 @@ class VescStatusAggregator:
       2. Builds an FC_VESC broadcast payload
       3. Injects the FC_VESC frame onto the mock bus
 
-    This represents the Mamba → Orin telemetry path.
+    This represents the ESP32-S3 BALANCE → Orin telemetry path.
     """
 
     def __init__(self, bus: MockCANBus):

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py

@@ -90,7 +90,7 @@ class HeartbeatSimulator:
 def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
     """
     Simulate the firmware-side logic: when heartbeat timeout expires,
-    the FC sends an e-stop command by setting estop mode on the Mamba bus.
+    the FC sends an e-stop command by setting estop mode on the ESP32-S3 BALANCE bus.
     We model this as the bridge sending zero velocity + ESTOP mode.
     """