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docs: add Leap Motion, fix ESC step inset 12mm

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Sebastien Vayrette 2026-03-01 17:49:17 -05:00
parent ea18b9ad72
commit ac6fcb9a42
1 changed files with 19 additions and 2 deletions
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docs/wiring-diagram.md
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@ -11,6 +11,7 @@
│ USB-A1 ─── RealSense D435i (USB 3.1) │ │ USB-A1 ─── RealSense D435i (USB 3.1) │
│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │ │ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
│ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │ │ 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-A ──── ArduCam adapter → 2× IMX219 (front + left) │
│ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │ │ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │
│ M.2 ───── 1TB NVMe SSD │ │ 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 - **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 - **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 | | Device | Interface | Power Draw |
|--------|-----------|------------| |--------|-----------|------------|
@ -197,8 +213,9 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
| RealSense D435i | USB-A | ~1.5W (3.5W peak) | | RealSense D435i | USB-A | ~1.5W (3.5W peak) |
| RPLIDAR A1M8 | USB-A | ~2.6W (motor on) | | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
| SIM7600A | USB | ~1W idle, 3W TX peak | | SIM7600A | USB | ~1W idle, 3W TX peak |
| Leap Motion | USB | ~0.5W |
| ReSpeaker HAT | 40-pin | ~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. Orin Nano Super delivers up to 25W — USB peripherals are well within budget.