saltylab-firmware

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Author	SHA1	Message	Date
sl-uwb	a4879b6b3f	feat: ESP32 UWB Pro anchor firmware — DS-TWR responder (Issue #544 ) Anchor firmware for Makerfabs ESP32 UWB Pro (DW3000 chip). Two anchors mount on SaltyBot (port/starboard), USB-connected to Jetson Orin. - DS-TWR responder: Poll→Resp→Final with ±10cm accuracy - Streams +RANGE:<id>,<mm>,<rssi_dbm> on Serial 115200 - AT command interface: AT+RANGE?, AT+RANGE_ADDR=, AT+ID? - ANCHOR_ID 0/1 set at build time (env:anchor0 / env:anchor1) - PlatformIO config for Makerfabs MaUWB_DW3000 library - udev rules for /dev/uwb-anchor0 /dev/uwb-anchor1 USB symlinks - 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 11:45:29 -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

a4879b6b3f

feat: ESP32 UWB Pro anchor firmware — DS-TWR responder (Issue #544 )

Anchor firmware for Makerfabs ESP32 UWB Pro (DW3000 chip). Two anchors
mount on SaltyBot (port/starboard), USB-connected to Jetson Orin.

- DS-TWR responder: Poll→Resp→Final with ±10cm accuracy
- Streams +RANGE:<id>,<mm>,<rssi_dbm> on Serial 115200
- AT command interface: AT+RANGE?, AT+RANGE_ADDR=, AT+ID?
- ANCHOR_ID 0/1 set at build time (env:anchor0 / env:anchor1)
- PlatformIO config for Makerfabs MaUWB_DW3000 library
- udev rules for /dev/uwb-anchor0 /dev/uwb-anchor1 USB symlinks
- 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 11:45:29 -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

2 Commits