|
|
fa75c442a7
|
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>
|
2026-04-04 09:00:38 -04:00 |
|
|
|
067a871103
|
feat(perception): wheel encoder differential drive odometry (Issue #184)
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 7s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Adds saltybot_bridge_msgs package with WheelTicks.msg (int32 left/right
encoder counts) and a WheelOdomNode that subscribes to
/saltybot/wheel_ticks, integrates midpoint-Euler differential drive
kinematics (handling int32 counter rollover), and publishes
nav_msgs/Odometry on /odom_wheel at 50 Hz with optional TF broadcast.
New files:
jetson/ros2_ws/src/saltybot_bridge_msgs/
msg/WheelTicks.msg
CMakeLists.txt, package.xml
jetson/ros2_ws/src/saltybot_bringup/
saltybot_bringup/_wheel_odom.py — pure kinematics (no ROS2 deps)
saltybot_bringup/wheel_odom_node.py — 50 Hz timer node + TF broadcast
test/test_wheel_odom.py — 42 tests, all passing
Modified:
saltybot_bringup/package.xml — add saltybot_bridge_msgs, nav_msgs deps
saltybot_bringup/setup.py — add wheel_odom console_script entry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-03-03 00:41:39 -05:00 |
|
