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a2c554c232
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cleanup: remove all Mamba/F722S/STM32F722 refs — replace with ESP32-S3 BALANCE/IO
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update
SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs
- cad/: dimensions.scad FC params → ESP32-S3 BALANCE params
- chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/
FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout
- CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC
- USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era)
- AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE)
- projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN
- jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge
- jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC
- jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py,
stm32_cmd_node.py → esp32_cmd_node.py,
mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated
- scripts/flash_firmware.py: DFU/STM32 → pio run -t upload
- src/ include/: ARCHIVED headers added (legacy code preserved)
- test/: ARCHIVED notices; STM32F722 comments marked LEGACY
- ui/diagnostics_panel.html: Board/STM32 → ESP32-S3
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 09:06:09 -04:00 |
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fa75c442a7
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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 09:00:38 -04:00 |
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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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dd459c0df7
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feat: Configure Nav2 recovery behaviors (Issue #479)
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain.
Recovery Sequence (round-robin, 6 retries):
1. Clear costmaps (local + global)
2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer)
3. Wait 5 seconds (allow dynamic obstacles to move)
4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative)
Configuration Details:
- backup: 0.3m reverse, 0.1 m/s speed, 0.15 m/s max, 5s timeout
- spin: 90° rotation, 0.5 rad/s max angular velocity, 1.6 rad/s² accel
- wait: 5-second pause for obstacle clearing
- progress_checker: 20cm minimum movement threshold in 10s window
Safety:
- E-stop (Issue #459) takes priority over recovery behaviors
- Emergency stop system runs independently on STM32 firmware
- Conservative speeds for FC + Hoverboard ESC stability
Files Modified:
- jetson/config/nav2_params.yaml: behavior_server parameters
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates
- jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 14:41:11 -05:00 |
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