saltylab-firmware

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Author	SHA1	Message	Date
sl-uwb	c6e479ef3f	feat: ESP32 UWB Pro tag firmware — DS-TWR initiator (Issue #545 ) Tag firmware for Makerfabs ESP32 UWB Pro worn by person being tracked. Initiates DS-TWR with each robot anchor in 20 Hz round-robin. - DS-TWR initiator: Poll→(RESP received)→Final with timestamps Ra/Da/Db - Anchor side computes authoritative range; tag computes local estimate - Round-robin across NUM_ANCHORS anchors (default 2) at 20 Hz - Streams +RANGE:<id>,<mm>,<rssi> over USB serial (bench debug) - LED blink on each successful range - TAG_ID, NUM_ANCHORS, RANGE_INTERVAL_MS configurable in platformio.ini - Pin map: SCK=18 MISO=19 MOSI=23 CS=21 RST=27 IRQ=34 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 11:48:12 -04:00
sl-firmware	5143e5bfac	feat(social): Issue #86 — physical expression + motor attention ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino): - Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1 - Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow - Idle breathing animation (sine-modulated warm white) - Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command ROS2 saltybot_social_msgs (new package): - Mood.msg — {mood, intensity} - Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source} - PersonArray.msg — {persons[], active_id} ROS2 saltybot_social (new package): - expression_node: subscribes /social/mood → JSON serial to ESP32-C3 reconnects on port error; sends idle frame after idle_timeout_s - attention_node: subscribes /social/persons → /cmd_vel rotation-only proportional control with dead zone; prefers active speaker, falls back to highest-confidence person; lost-target idle after 2 s - launch/social.launch.py — combined launch - config YAML for both nodes with documented parameters - test/test_attention.py — 15 pytest-only unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-01 23:35:59 -05:00

Author

SHA1

Message

Date

sl-uwb

c6e479ef3f

feat: ESP32 UWB Pro tag firmware — DS-TWR initiator (Issue #545 )

Tag firmware for Makerfabs ESP32 UWB Pro worn by person being tracked.
Initiates DS-TWR with each robot anchor in 20 Hz round-robin.

- DS-TWR initiator: Poll→(RESP received)→Final with timestamps Ra/Da/Db
- Anchor side computes authoritative range; tag computes local estimate
- Round-robin across NUM_ANCHORS anchors (default 2) at 20 Hz
- Streams +RANGE:<id>,<mm>,<rssi> over USB serial (bench debug)
- LED blink on each successful range
- TAG_ID, NUM_ANCHORS, RANGE_INTERVAL_MS configurable in platformio.ini
- Pin map: SCK=18 MISO=19 MOSI=23 CS=21 RST=27 IRQ=34

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

2026-03-14 11:48:12 -04:00

sl-firmware

5143e5bfac

feat(social): Issue #86 — physical expression + motor attention

ESP32-C3 NeoPixel sketch (esp32/social_expression/social_expression.ino):
  - Adafruit NeoPixel + ArduinoJson, serial JSON protocol 115200 8N1
  - Mood→colour: happy=green, curious=blue, annoyed=red, playful=rainbow
  - Idle breathing animation (sine-modulated warm white)
  - Auto-falls to idle after IDLE_TIMEOUT_MS (3 s) with no command

ROS2 saltybot_social_msgs (new package):
  - Mood.msg — {mood, intensity}
  - Person.msg — {track_id, bearing_rad, distance_m, confidence, is_speaking, source}
  - PersonArray.msg — {persons[], active_id}

ROS2 saltybot_social (new package):
  - expression_node: subscribes /social/mood → JSON serial to ESP32-C3
    reconnects on port error; sends idle frame after idle_timeout_s
  - attention_node: subscribes /social/persons → /cmd_vel rotation-only
    proportional control with dead zone; prefers active speaker, falls
    back to highest-confidence person; lost-target idle after 2 s
  - launch/social.launch.py — combined launch
  - config YAML for both nodes with documented parameters
  - test/test_attention.py — 15 pytest-only unit tests

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

2026-03-01 23:35:59 -05:00

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