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291dd689f8
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feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md
Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
stm32_cmd.launch.py → esp32_cmd.launch.py,
test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node
Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF
docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md
TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF
No new functionality — cleanup only.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:41:26 -04:00 |
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2fa72e169e
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feat: SaltyRover chassis Rev 2 — 4-wheel rover with spring suspension (#109)
New chassis design files for the SaltyRover rough-terrain variant:
• saltyrover_chassis_r2.scad — Deck plate (500×480×6mm Al, laser-cut DXF),
4× M3-adjustable pivot brackets, 4× CSI corner camera mounts (45° outward,
20° down), D435i front bracket (8° tilt), stem collar. All RENDER modes
for STL and DXF export included.
• rover_spring_arm.scad — Trailing-arm spring suspension (×4). Pivot on M8
bolt; captured 14mm OD compression spring (50mm free, ~5 N/mm); open-end
axle dropout slot with retainer cap. Provides 25mm bump + 15mm droop travel.
Bearing-seat recess for caliper-verified 37.8mm collar OD.
• rover_electronics_bay.scad — PETG electronics bay (240×200×80mm internal).
FC standoffs 30.5×30.5mm M3 and Jetson Orin 58×49mm M3 — shared SaltyLab
swappable pattern. Ventilation slots all 4 walls + lid. Lid integrates
100mm RPLIDAR A1M8 tower (58mm BC, matched to rplidar_mount.scad).
Split-print halves for 220mm beds included.
• rover_chassis_r2_BOM.md — Full BOM, mass estimate (frame ~2.15kg; reduce
to <2kg by setting DECK_T=5), assembly sequence, critical dimensions.
Sensor positions: RPLIDAR top-centre on bay lid, D435i front, 4× IMX219 at
deck corners. Shares 30.5mm FC + 58mm Jetson + Ø25mm stem patterns with
SaltyLab for swappable electronics.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 08:42:44 -05:00 |
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