sl-uwb
82cc223fb8
feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602 )
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- peer_range_once(): DS-TWR initiator role toward a peer anchor
(POLL → RESP → FINAL, one-sided range estimate Ra - Da/2)
- AT+PEER_RANGE=<id>: returns +PEER_RANGE:<my>,<peer>,<mm>,<rssi>
or +PEER_RANGE:ERR,<peer>,TIMEOUT
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 15:06:29 -04:00
sl-uwb
4b8d1b2ff7
feat: Integrate UWB tag display + ESP-NOW + e-stop (salty/uwb-tag-display-wireless)
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Integrates Tee's additions to the DS-TWR tag firmware (esp32/uwb_tag/).
Base is our DS-TWR initiator from Issue #545 ; extensions added:
OLED display (SSD1306 128×64, I2C SDA=4 SCL=5):
- Big distance readout (nearest anchor, auto m/mm)
- Per-anchor range rows with link-age indicator
- Signal strength bars (RSSI)
- Uptime + sequence counter
- Full-screen E-STOP warning when button held
ESP-NOW wireless (peer-to-peer, no AP required):
- 20-byte broadcast packet: magic, tag_id, msg_type, anchor_id,
range_mm, rssi_dbm, timestamp_ms, battery_pct, flags, seq_num
- MSG_RANGE (0x10) on every successful TWR
- MSG_ESTOP (0x20) at 10 Hz while button held; 3× clear on release
- MSG_HEARTBEAT (0x30) at 1 Hz
Emergency stop (GPIO 0 / BOOT button, active LOW):
- Blocks ranging while active
- 10 Hz ESP-NOW e-stop TX, serial +ESTOP:ACTIVE / +ESTOP:CLEAR
- 3× clear packets on release
Build: adds Adafruit SSD1306 + GFX libraries to platformio.ini.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-14 12:19:31 -04:00
sl-uwb
a4879b6b3f
feat: ESP32 UWB Pro anchor firmware — DS-TWR responder (Issue #544 )
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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
5143e5bfac
feat(social): Issue #86 — physical expression + motor attention
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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
