Robot is no longer a balance bot. Remove:
- TILT_CUTOFF_DEG (±25° tilt cutoff) from config.h
- BAL_TILT_FAULT enum value from orin_serial.h
- CMD_PID / orin_pid_t (balance PID tuning) from protocol
- Steer differential (RPM_PER_STEER_UNIT) from drive task
- VESC_ID_B drive command — front VESC (ID 61) only
Update VESC CAN IDs: 56→61 (front), 68→79 (rear).
VESC_ID_B retained for rear telemetry RX only.
ESTOP and heartbeat watchdog unchanged.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replaces Orin↔ESP32-S3 BALANCE CAN comms (0x300-0x303 / 0x400-0x401)
with binary serial framing over CH343 USB-CDC at 460800 baud.
Protocol matches bd-wim1 (sl-perception) exactly:
Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8-SMBUS]
CRC covers LEN+TYPE+PAYLOAD, big-endian multi-byte fields.
Commands (Orin→ESP32): HEARTBEAT/DRIVE/ESTOP/ARM/PID
Telemetry (ESP32→Orin): TELEM_STATUS, TELEM_VESC_LEFT (ID 56),
TELEM_VESC_RIGHT (ID 68), ACK/NACK
VESC CAN TWAI kept for motor control; drive commands from Orin
forwarded to VESCs via SET_RPM. Hardware note: SN65HVD230
rewired from IO43/44 to IO2/IO1 to free IO43/44 for CH343.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
