From ac6fcb9a429b0d058d0a58dcd4677f6cd2885973 Mon Sep 17 00:00:00 2001
From: Sebastien Vayrette <vayrette@gmail.com>
Date: Sun, 1 Mar 2026 17:49:17 -0500
Subject: [PATCH] docs: add Leap Motion, fix ESC step inset 12mm

---
 docs/wiring-diagram.md | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/docs/wiring-diagram.md b/docs/wiring-diagram.md
index b5fb999..824e365 100644
--- a/docs/wiring-diagram.md
+++ b/docs/wiring-diagram.md
@@ -11,6 +11,7 @@
 │  USB-A1 ─── RealSense D435i (USB 3.1)                             │
 │  USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200)             │
 │  USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP)     │
+│  USB ─────── Leap Motion Controller (hand/gesture tracking)        │
 │  CSI-A ──── ArduCam adapter → 2× IMX219 (front + left)            │
 │  CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right)            │
 │  M.2 ───── 1TB NVMe SSD                                            │
@@ -189,7 +190,22 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
 - **Connected via USB** (not 40-pin) — avoids UART conflict with FC fallback, flexible antenna placement
 - **Use:** Remote telemetry, 4G connectivity outdoors, GPS positioning, remote SSH/control
 
-### 9. Power Budget (USB)
+### 10. Leap Motion Controller (USB)
+
+| Connection | Detail |
+|-----------|--------|
+| Interface | USB 3.0 (micro-B on controller → USB-A on Orin) |
+| Power | ~0.5W |
+| Range | ~80cm, 150° FOV |
+| SDK | Ultraleap Gemini V5+ (Linux ARM64 support) |
+| ROS2 | `leap_motion_ros2` wrapper available |
+
+- **2× IR cameras + 3× IR LEDs** — tracks all 10 fingers in 3D, sub-mm precision
+- **Mount:** Forward-facing on sensor tower or upward on Orin plate
+- **Use:** Gesture control (palm=stop, point=go, fist=arm), hand-following mode, demos
+- **Combined with ReSpeaker:** Voice + gesture control with zero hardware in hand
+
+### 11. Power Budget (USB)
 
 | Device | Interface | Power Draw |
 |--------|-----------|------------|
@@ -197,8 +213,9 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
 | RealSense D435i | USB-A | ~1.5W (3.5W peak) |
 | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
 | SIM7600A | USB | ~1W idle, 3W TX peak |
+| Leap Motion | USB | ~0.5W |
 | ReSpeaker HAT | 40-pin | ~0.5W |
-| **Total USB** | | **~6W typical, ~10W peak** |
+| **Total USB** | | **~6.5W typical, ~10.5W peak** |
 
 Orin Nano Super delivers up to 25W — USB peripherals are well within budget.