Merge pull request 'feat: remove balance-bot safety constraints from ESP32 Balance firmware' (#734 ) from sl-firmware/non-balance-bot-hoverboard-drive into main

feat: remove balance-bot safety constraints from ESP32 Balance firmware
Platform is no longer a self-balancing bot. Remove: - TILT_CUTOFF_DEG (±25° tilt cutoff constant, was unused in ESP32-S3) - BAL_TILT_FAULT state from bal_state_t enum (no code path generates it) ESTOP and heartbeat watchdog are unchanged. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-20 19:14:40 -04:00 · 2026-04-19 12:52:16 -04:00
2 changed files with 3 additions and 6 deletions
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@ -50,5 +50,3 @@
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
 #define RPM_PER_STEER_UNIT      3       /* steer differential scale */

-/* ── Tilt cutoff ── */
-#define TILT_CUTOFF_DEG         25.0f
--- a/esp32s3/balance/main/orin_serial.h
+++ b/esp32s3/balance/main/orin_serial.h
@ -55,7 +55,6 @@
 typedef enum {
    BAL_DISARMED = 0,
    BAL_ARMED    = 1,
-    BAL_TILT_FAULT = 2,
    BAL_ESTOP    = 3,
 } bal_state_t;
Author	SHA1	Message	Date
sl-jetson	97367829d3	Merge pull request 'feat: remove balance-bot safety constraints from ESP32 Balance firmware' (#734 ) from sl-firmware/non-balance-bot-hoverboard-drive into main	2026-04-20 19:14:40 -04:00
sl-firmware	04922ac875	feat: remove balance-bot safety constraints from ESP32 Balance firmware Platform is no longer a self-balancing bot. Remove: - TILT_CUTOFF_DEG (±25° tilt cutoff constant, was unused in ESP32-S3) - BAL_TILT_FAULT state from bal_state_t enum (no code path generates it) ESTOP and heartbeat watchdog are unchanged. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-19 12:52:16 -04:00