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# SaltyBot Chassis — Assembly Notes
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**Task:** bd-1iy5 — Rev A — 2026-02-28
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---
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## Overview
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```
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[Front bumper rail — 22mm EMT]
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├─ bumper_bracket(front=+1) ──────────────────────┐
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│ │
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┌───────┴──────────── Main Deck (640×220×6mm Al) ─────────┴───────┐
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│ ← Jetson mount plate (rear/+X) FC mount (front/−X) → │
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│ [Battery tray hanging below centre] │
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└───┬──────────────────────────────────────────────────────────┬───┘
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│ │
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Motor fork (L) Motor fork (R)
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Hub motor CL: ±300mm from deck centre │
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Axle height: 310mm above ground │
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├─ bumper_bracket(front=-1) ──────────────────────┘
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[Rear bumper rail — 22mm EMT]
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```
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---
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## Step-by-step Assembly
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### 1 Fabricate / print parts
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- Send deck plate DXF (export from OpenSCAD → DXF) to CNC router or waterjet cutter.
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- Print motor fork brackets in PETG 5 perimeters / 40% gyroid for prototype, or send STEP to machine shop.
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- Print battery tray, FC pad, Jetson plate, bumper brackets in PETG.
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- Export STEP: OpenSCAD → Render (F6) → Export as STL, then convert with FreeCAD for STEP.
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### 2 Verify motor axle dimensions
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- Measure actual hoverboard motor axle: diameter and flat-to-flat.
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- Adjust `MOTOR_AXLE_D` and `MOTOR_AXLE_FLAT` in `chassis_frame.scad`.
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- Re-export fork dropout slot.
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### 3 Motor forks → deck
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1. Thread M5 T-nuts into underside of deck edge slots (or use M5 rivet nuts).
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2. Align fork bracket to deck edge; fasten with 4× M5×16 SHCS + flat washer each side.
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3. Apply Loctite 243 to threads. Torque to 4 N·m.
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### 4 Motors into forks
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1. Slide hub motor axle into dropout slot (flat side aligns with slot).
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2. Fit flat washer then flanged M14 axle nut; torque to 35–40 N·m.
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3. Feed motor phase wires and hall-sensor cable through deck cable slot.
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### 5 Longitudinal ribs
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1. Align ribs with edge grooves on deck underside.
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2. Secure with M4×12 SHCS through pre-drilled holes; torque 2.5 N·m.
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### 6 Battery tray
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1. Pass any wiring harness through deck wire-pass hole before mounting tray.
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2. Align tray mounting ears to deck M4 threaded inserts (or rivet nuts).
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3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
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4. Insert battery pack; route Velcro straps through slots and cinch.
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### 7 FC mount (MAMBA F722S)
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1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
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2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
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3. Orient USB-C port toward front of robot for cable access.
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### 8 Jetson Nano mount plate
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1. Press or thread M3 nylon standoffs (8mm) into plate holes.
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2. Bolt plate to deck: 4× M3×10 SHCS at deck corners.
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3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS.
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### 9 Bumper brackets
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1. Slide 22mm EMT conduit through saddle clamp openings.
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2. Bolt bracket to deck edge: 4× M5×16 SHCS per bracket.
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3. Position bumper rail flush with motor OD outer edge; tighten saddle clamp bolts.
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### 10 Cable routing
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- Route motor phase cables along longitudinal ribs; secure with cable clips.
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- FC ↔ ESC/VESC harness exits through front cable slot.
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- Jetson USB/UART ribbon exits through rear cable slot.
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- Power harness (battery XT60 → BMS → 24V bus) runs under deck along centreline.
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---
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## Critical Dimensions (verify before machining)
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| Dimension | Nominal | Tolerance |
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|-----------|---------|-----------|
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| Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm |
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| Motor fork slot width | 24 mm | +0.5 / 0 |
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| Motor fork dropout depth | 60 mm | ±0.5 mm |
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| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm |
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| Jetson hole pattern | 58 × 58 mm | ±0.2 mm |
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| Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm |
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---
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## OpenSCAD Rendering Notes
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```bash
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# Render full assembly preview (F5 in GUI)
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openscad chassis_frame.scad
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# Export individual part STL for slicing
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openscad chassis_frame.scad -D "PART=\"motor_fork\"" -o motor_fork_right.stl
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# Export deck DXF (set DECK_THICKNESS=0.01 for 2D projection)
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openscad chassis_frame.scad -D "RENDER_2D=true" -o deck_plate.dxf
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```
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**Slicing profile (PETG, structural parts):**
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- Nozzle: 0.4mm | Layer: 0.2mm
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- Perimeters: 5 | Infill: 40% gyroid
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- Supports: Yes (motor fork dropout slot)
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- Orientation: Fork bracket printed vertically (load axis = layer direction)
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---
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## Safety Notes
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- Verify axle nut torque after first 10-minute ride — hub motors vibrate and may back off.
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- Battery tray is rated for packs ≤185×72×52mm; confirm dimensions before ordering cells.
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- Ground all aluminium chassis parts to power-common to avoid RF interference with FC.
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- Do **not** run robot without bumpers fitted — uncontrolled runaway risk.
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102
chassis/BOM.md
102
chassis/BOM.md
@ -1,102 +0,0 @@
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# SaltyBot Chassis — Bill of Materials
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**Task:** bd-1iy5
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**Rev:** A — 2026-02-28
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**Agent:** sl-mechanical
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---
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## Structural / Fabricated Parts
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| # | Part | Qty | Material | Notes |
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|---|------|-----|----------|-------|
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| 1 | Main deck plate | 1 | 6mm 5052 aluminium plate, 640×220mm | CNC router or waterjet; all holes per `chassis_frame.scad` |
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| 2 | Longitudinal rib (front) | 1 | 4mm 5052 aluminium, 600×40mm | Laser-cut; press-fit into deck slots |
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| 3 | Longitudinal rib (rear) | 1 | 4mm 5052 aluminium, 600×40mm | Same file, symmetric |
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| 4 | Motor fork bracket (L) | 1 | 8mm 6061 aluminium | CNC mill or FDM PETG @100% infill for prototyping |
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| 5 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 4 |
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| 6 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
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| 7 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
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| 8 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
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| 9 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
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| 10 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 9 |
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---
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## Motors
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| # | Part | Qty | Source / Spec | Notes |
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|---|------|-----|---------------|-------|
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| 11 | Hoverboard hub motor | 2 | Generic 6.5" / 170mm OD, 36V nominal | ~350W each; 14mm flat axle; confirm exact OD before cutting fork slots |
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| 12 | Motor hall-sensor cable extension | 2 | 6-pin JST-PH 300mm | Route through deck cable slot |
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---
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## Electronics Mounts
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
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| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
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| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
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| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
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---
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## Battery
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 18 | LiPo / LiFePO4 pack | 1 | 24V (6S LiPo or 8S LiFePO4), 4Ah, ≤185×72×52mm | Confirm dims before printing tray; add 2mm clearance |
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| 19 | Velcro strap 20mm wide | 2 | 300mm length | Route through tray strap slots |
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| 20 | BMS board | 1 | Matched to cell chemistry | Mount externally on rear inner face of tray wall |
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---
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## Bumper Rail
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 21 | 3/4" EMT conduit | 2 | 22mm OD, 660mm length | Front and rear bumper rail; bent or straight |
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| 22 | Conduit saddle clamp M4 | 6 | 3D-printed integral to bracket (items 9/10) | Back-up: standard pipe clamp 22mm |
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---
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## Fasteners
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| # | Part | Qty | Spec |
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|---|------|-----|------|
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| 23 | M5×16 SHCS | 24 | ISO 4762, SS |
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| 24 | M5 hex nut | 24 | ISO 4032, SS |
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| 25 | M4×12 SHCS | 12 | ISO 4762, SS |
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| 26 | M4 hex nut | 12 | ISO 4032, SS |
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| 27 | M3×10 SHCS | 20 | ISO 4762, SS |
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| 28 | M3 hex nut | 20 | ISO 4032, SS |
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| 29 | M3×6 BHCS | 8 | FC + Jetson board bolts |
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| 30 | M14×1.5 axle nut | 4 | One each side per motor, flanged | Confirm axle thread pitch on actual motors |
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| 31 | Serrated washer M14 | 4 | Axle anti-rotation |
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| 32 | Flat washer M5 | 48 | SS |
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---
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## Tools Required for Assembly
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- Torque wrench (M14 axle nuts: 35–40 N·m; M5: 4 N·m)
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- M2.5 / M3 / M4 / M5 hex drivers
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- Thread locker (Loctite 243 blue for all structural fasteners)
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- Dial caliper — verify motor OD, axle flat before machining fork slot
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---
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## Estimated Masses
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| Assembly | Est. mass |
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|----------|-----------|
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| Aluminium deck + ribs | ~1.1 kg |
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| Motor forks (×2 Al) | ~0.4 kg |
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| Motors (×2) | ~3.6 kg |
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| Battery (6S 4Ah LiPo) | ~0.7 kg |
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| Electronics (FC + Jetson + wiring) | ~0.5 kg |
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| Bumpers + brackets | ~0.3 kg |
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| Fasteners | ~0.2 kg |
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| **Total estimate** | **~6.8 kg** |
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@ -1,340 +0,0 @@
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// =============================================================================
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// SaltyBot — Parametric Chassis Frame
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// Task: bd-1iy5
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// Agent: sl-mechanical
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// Date: 2026-02-28
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//
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// Self-balancing two-wheeled robot chassis
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// Requirements:
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// - 600mm wheelbase
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// - 2x hoverboard hub motors (170mm OD)
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// - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern)
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// - Battery tray (24V 4Ah — ~180x70x50mm pack)
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// - Jetson Nano B01 mount plate (100x80mm, M3 holes)
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// - Front/rear bumper brackets
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// =============================================================================
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// ─── RENDER QUALITY ──────────────────────────────────────────────────────────
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$fn = 64;
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// =============================================================================
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// PARAMETERS — edit here to adjust the whole model
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// =============================================================================
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// ── Wheelbase / overall geometry ─────────────────────────────────────────────
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WHEELBASE = 600; // mm, center-to-center axle distance (lateral)
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FRAME_WIDTH = 220; // mm, front-to-back depth of main deck
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DECK_THICKNESS = 6; // mm, main deck plate thickness
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WALL_T = 4; // mm, general wall thickness for brackets/ribs
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// ── Hub motor parameters ─────────────────────────────────────────────────────
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MOTOR_OD = 170; // mm, motor housing outer diameter
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MOTOR_AXLE_D = 14; // mm, axle bolt diameter
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MOTOR_AXLE_FLAT = 10; // mm, axle flat-to-flat (for anti-rotation)
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MOTOR_FORK_WIDTH = 24; // mm, dropout slot width (fits 10-14mm axle + spacers)
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MOTOR_FORK_DEPTH = 60; // mm, dropout slot depth from fork tip
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MOTOR_FORK_H = 80; // mm, total height of motor fork bracket
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MOTOR_FORK_T = 8; // mm, fork plate thickness
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AXLE_HEIGHT = 310; // mm, axle CL above ground (motor radius + clearance)
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// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ──────────────────────
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FC_MOUNT_SPACING = 30.5; // mm, hole pattern pitch
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FC_MOUNT_HOLE_D = 3.2; // mm, M3 clearance
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FC_STANDOFF_H = 6; // mm, standoff height
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FC_PAD_T = 3; // mm, mounting pad thickness
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// ── Battery tray (24V 4Ah LiPo / LiFePO4) ───────────────────────────────────
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BATT_L = 185; // mm, cell pack length
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BATT_W = 72; // mm, cell pack width
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BATT_H = 52; // mm, cell pack height
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BATT_WALL = 3; // mm, tray wall thickness
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BATT_FLOOR = 4; // mm, tray floor thickness
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BATT_STRAP_W = 20; // mm, Velcro strap slot width
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BATT_STRAP_T = 2; // mm, strap slot depth
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// ── Jetson Nano B01 mount plate ──────────────────────────────────────────────
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// B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
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JETSON_HOLE_PITCH = 58; // mm, M3 mounting hole pattern
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JETSON_HOLE_D = 3.2; // mm
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JETSON_PLATE_L = 105; // mm, plate length
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JETSON_PLATE_W = 90; // mm, plate width
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JETSON_PLATE_T = 4; // mm, plate thickness
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JETSON_STANDOFF_H = 8; // mm
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// ── Bumper bracket ────────────────────────────────────────────────────────────
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BUMPER_L = WHEELBASE + 60; // mm, bumper rail length (overhangs wheel CL)
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BUMPER_H = 40; // mm, bracket vertical height
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BUMPER_T = 5; // mm, bracket plate thickness
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BUMPER_TUBE_OD = 22; // mm, 3/4" EMT conduit OD for bumper rail
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// ── Rib / gusset parameters ───────────────────────────────────────────────────
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RIB_W = 20; // mm, longitudinal rib width
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RIB_H = 40; // mm, rib height below deck
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RIB_T = 4; // mm, rib plate thickness (laser/router cut)
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// ── Fastener helpers ─────────────────────────────────────────────────────────
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M3_D = 3.2;
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M4_D = 4.3;
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M5_D = 5.3;
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M6_D = 6.5;
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// =============================================================================
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// MAIN ASSEMBLY — comment/uncomment parts as needed
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// =============================================================================
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|
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color("Silver", 0.9) main_deck();
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color("DimGray") motor_fork(side= 1); // right (+X)
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color("DimGray") motor_fork(side=-1); // left (-X)
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color("SteelBlue") battery_tray();
|
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color("OliveDrab") fc_mount_plate();
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color("DarkOrange") jetson_mount_plate();
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color("Tomato") bumper_bracket(front= 1);
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color("Tomato") bumper_bracket(front=-1);
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color("WhiteSmoke") longitudinal_ribs();
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// =============================================================================
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// MODULES
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// =============================================================================
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|
||||
// ─── Main deck plate ─────────────────────────────────────────────────────────
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module main_deck() {
|
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difference() {
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// Deck plate
|
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translate([-WHEELBASE/2 - MOTOR_FORK_T, -FRAME_WIDTH/2, 0])
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cube([WHEELBASE + 2*MOTOR_FORK_T, FRAME_WIDTH, DECK_THICKNESS]);
|
||||
|
||||
// Lightening holes — 3 rows × 4 cols
|
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for (x = [-WHEELBASE/3, 0, WHEELBASE/3])
|
||||
for (y = [-FRAME_WIDTH/4, FRAME_WIDTH/4])
|
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translate([x, y, -1])
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cylinder(d=50, h=DECK_THICKNESS+2);
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||||
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||||
// FC mount holes
|
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fc_mount_holes(z_offset=-1, depth=DECK_THICKNESS+2);
|
||||
|
||||
// Battery tray floor cutout for wire pass-through
|
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translate([-BATT_L/2 + 40, -BATT_W/2 + 40, -1])
|
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cube([BATT_L - 80, BATT_W - 80, DECK_THICKNESS+2]);
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||||
|
||||
// Cable routing slots
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for (x = [-60, 60])
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translate([x, -FRAME_WIDTH/2 - 1, -1])
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cube([14, 18, DECK_THICKNESS+2]);
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}
|
||||
}
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// ─── Longitudinal ribs (×2, symmetric F/R) ───────────────────────────────────
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||||
module longitudinal_ribs() {
|
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for (y = [-FRAME_WIDTH/2 + RIB_W/2 + WALL_T,
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FRAME_WIDTH/2 - RIB_W/2 - WALL_T])
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translate([-WHEELBASE/2, y - RIB_T/2, -RIB_H])
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cube([WHEELBASE, RIB_T, RIB_H]);
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}
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// ─── Motor fork dropout bracket ──────────────────────────────────────────────
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||||
// Mounts to deck edge; provides a CNC-milled or FDM dropout slot for the axle.
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// `side` = +1 (right/+X) or -1 (left/-X)
|
||||
module motor_fork(side = 1) {
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||||
x_pos = side * (WHEELBASE/2);
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||||
|
||||
translate([x_pos, 0, 0]) {
|
||||
difference() {
|
||||
union() {
|
||||
// Vertical fork body
|
||||
translate([side*(DECK_THICKNESS/2), -MOTOR_FORK_WIDTH/2 - 4, -MOTOR_FORK_H])
|
||||
cube([side * MOTOR_FORK_T, MOTOR_FORK_WIDTH + 8, MOTOR_FORK_H + DECK_THICKNESS]);
|
||||
|
||||
// Gusset triangles
|
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for (g = [-1, 1])
|
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translate([side*(DECK_THICKNESS/2), g*(MOTOR_FORK_WIDTH/2 + 2), -MOTOR_FORK_H])
|
||||
linear_extrude(height=MOTOR_FORK_T)
|
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polygon([[0,0],[0, g*20],[side*-30, 0]]);
|
||||
}
|
||||
|
||||
// Axle dropout slot (open at bottom)
|
||||
translate([side*(DECK_THICKNESS/2) - 1,
|
||||
-MOTOR_AXLE_FLAT/2,
|
||||
-MOTOR_FORK_DEPTH - MOTOR_AXLE_D/2])
|
||||
cube([MOTOR_FORK_T + 2, MOTOR_AXLE_FLAT, MOTOR_FORK_DEPTH + 1]);
|
||||
|
||||
// Axle through-hole at slot top
|
||||
translate([side*(DECK_THICKNESS/2) - 1, 0,
|
||||
-MOTOR_FORK_DEPTH - MOTOR_AXLE_D/2])
|
||||
rotate([0, 90, 0])
|
||||
cylinder(d=MOTOR_AXLE_D + 1, h=MOTOR_FORK_T + 2);
|
||||
|
||||
// Bolt holes for deck attachment (M5 × 4)
|
||||
for (y = [-20, 20])
|
||||
for (z = [4, 12])
|
||||
translate([side*(DECK_THICKNESS/2) - 1, y, z - MOTOR_FORK_H + MOTOR_FORK_H/2])
|
||||
rotate([0, 90, 0])
|
||||
cylinder(d=M5_D, h=MOTOR_FORK_T + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ─── Battery tray ─────────────────────────────────────────────────────────────
|
||||
// Positioned in centre of deck, recessed 10mm below deck surface
|
||||
module battery_tray() {
|
||||
z_base = -BATT_FLOOR - BATT_H - 5; // hang below deck
|
||||
translate([-BATT_L/2 - BATT_WALL, -BATT_W/2 - BATT_WALL, z_base]) {
|
||||
difference() {
|
||||
// Outer tray body
|
||||
cube([BATT_L + 2*BATT_WALL,
|
||||
BATT_W + 2*BATT_WALL,
|
||||
BATT_H + BATT_FLOOR]);
|
||||
|
||||
// Inner cavity
|
||||
translate([BATT_WALL, BATT_WALL, BATT_FLOOR])
|
||||
cube([BATT_L, BATT_W, BATT_H + 1]);
|
||||
|
||||
// Strap slots (2× longitudinal)
|
||||
for (x = [BATT_L/2 - BATT_STRAP_W*2,
|
||||
BATT_L/2 + BATT_STRAP_W])
|
||||
translate([x, -1, BATT_FLOOR + BATT_H/2 - BATT_STRAP_W/2])
|
||||
cube([BATT_STRAP_W, BATT_W + 2*BATT_WALL + 2, BATT_STRAP_W]);
|
||||
|
||||
// Ventilation slots bottom (3×)
|
||||
for (i = [0:2])
|
||||
translate([BATT_WALL + 20 + i*50, BATT_WALL + 10, -1])
|
||||
cube([30, BATT_W - 20, BATT_FLOOR + 2]);
|
||||
|
||||
// Mount holes to deck (M4 × 4 corners)
|
||||
for (x = [10, BATT_L + BATT_WALL - 2])
|
||||
for (y = [10, BATT_W + BATT_WALL - 2])
|
||||
translate([x, y, BATT_H + BATT_FLOOR - 1])
|
||||
cylinder(d=M4_D, h=BATT_FLOOR + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ─── FC mount holes helper ────────────────────────────────────────────────────
|
||||
module fc_mount_holes(z_offset=0, depth=10) {
|
||||
// MAMBA F722S: 30.5×30.5 mm M3 pattern, centred at origin
|
||||
for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
|
||||
for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
|
||||
translate([x, y, z_offset])
|
||||
cylinder(d=FC_MOUNT_HOLE_D, h=depth);
|
||||
}
|
||||
|
||||
// ─── FC mount plate (raised 40mm above deck centre) ──────────────────────────
|
||||
module fc_mount_plate() {
|
||||
fc_x = -50; // offset toward front from deck centre
|
||||
fc_y = 0;
|
||||
plate_z = DECK_THICKNESS + FC_STANDOFF_H;
|
||||
|
||||
translate([fc_x, fc_y, 0]) {
|
||||
difference() {
|
||||
union() {
|
||||
// Mount pads with standoffs
|
||||
for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
|
||||
for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2]) {
|
||||
translate([x, y, DECK_THICKNESS])
|
||||
cylinder(d=8, h=FC_STANDOFF_H); // standoff column
|
||||
translate([x - 5, y - 5, DECK_THICKNESS])
|
||||
cube([10, 10, FC_PAD_T]); // pad base
|
||||
}
|
||||
// Base plate
|
||||
translate([-FC_MOUNT_SPACING/2 - 8, -FC_MOUNT_SPACING/2 - 8, DECK_THICKNESS])
|
||||
cube([FC_MOUNT_SPACING + 16, FC_MOUNT_SPACING + 16, FC_PAD_T]);
|
||||
}
|
||||
// M3 through-holes in standoffs
|
||||
fc_mount_holes(z_offset=DECK_THICKNESS - 1, depth=FC_STANDOFF_H + FC_PAD_T + 2);
|
||||
|
||||
// Deck anchor holes
|
||||
fc_mount_holes(z_offset=-1, depth=DECK_THICKNESS + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ─── Jetson Nano B01 mount plate ─────────────────────────────────────────────
|
||||
// Positioned rear of deck, elevated on standoffs
|
||||
module jetson_mount_plate() {
|
||||
jet_x = 60; // offset toward rear
|
||||
jet_y = 0;
|
||||
plate_z = DECK_THICKNESS + JETSON_STANDOFF_H;
|
||||
|
||||
translate([jet_x, jet_y, 0]) {
|
||||
difference() {
|
||||
union() {
|
||||
// Mounting plate
|
||||
translate([-JETSON_PLATE_L/2, -JETSON_PLATE_W/2, DECK_THICKNESS + JETSON_STANDOFF_H])
|
||||
cube([JETSON_PLATE_L, JETSON_PLATE_W, JETSON_PLATE_T]);
|
||||
|
||||
// Four standoff columns
|
||||
for (x = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
|
||||
for (y = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
|
||||
translate([x, y, DECK_THICKNESS])
|
||||
cylinder(d=6, h=JETSON_STANDOFF_H);
|
||||
}
|
||||
|
||||
// B01 M3 hole pattern (58×58 mm)
|
||||
for (x = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
|
||||
for (y = [-JETSON_HOLE_PITCH/2, JETSON_HOLE_PITCH/2])
|
||||
translate([x, y, DECK_THICKNESS - 1])
|
||||
cylinder(d=JETSON_HOLE_D, h=JETSON_STANDOFF_H + JETSON_PLATE_T + 2);
|
||||
|
||||
// Ventilation / cable routing slots in plate
|
||||
for (i = [-1, 0, 1])
|
||||
translate([i*25 - 10, -JETSON_PLATE_W/2 + 10,
|
||||
DECK_THICKNESS + JETSON_STANDOFF_H - 1])
|
||||
cube([20, JETSON_PLATE_W - 20, JETSON_PLATE_T + 2]);
|
||||
|
||||
// Deck anchor holes (M3 × 4 corners of plate)
|
||||
for (x = [-JETSON_PLATE_L/2 + 8, JETSON_PLATE_L/2 - 8])
|
||||
for (y = [-JETSON_PLATE_W/2 + 8, JETSON_PLATE_W/2 - 8])
|
||||
translate([x, y, -1])
|
||||
cylinder(d=M3_D, h=DECK_THICKNESS + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ─── Bumper bracket ───────────────────────────────────────────────────────────
|
||||
// `front` = +1 (front) or -1 (rear)
|
||||
module bumper_bracket(front = 1) {
|
||||
y_pos = front * (FRAME_WIDTH/2);
|
||||
|
||||
translate([0, y_pos, 0]) {
|
||||
difference() {
|
||||
union() {
|
||||
// Horizontal mounting rail plate
|
||||
translate([-BUMPER_L/2, front*(BUMPER_T/2), 0])
|
||||
cube([BUMPER_L, BUMPER_T, BUMPER_H]);
|
||||
|
||||
// Vertical gussets at ends
|
||||
for (x = [-BUMPER_L/2 + 5, BUMPER_L/2 - BUMPER_T - 5])
|
||||
translate([x, front*(BUMPER_T), 0])
|
||||
cube([BUMPER_T, 20, BUMPER_H]);
|
||||
|
||||
// Bumper tube saddle clamps (×3 evenly spaced)
|
||||
for (x = [-BUMPER_L/3, 0, BUMPER_L/3])
|
||||
translate([x - BUMPER_TUBE_OD/2 - 2,
|
||||
front*(BUMPER_T + 15),
|
||||
BUMPER_H - BUMPER_TUBE_OD/2 - 5])
|
||||
difference() {
|
||||
cube([BUMPER_TUBE_OD + 4, BUMPER_TUBE_OD/2 + 4, BUMPER_TUBE_OD + 4]);
|
||||
translate([BUMPER_TUBE_OD/2 + 2, -1, BUMPER_TUBE_OD/2 + 2])
|
||||
rotate([-90, 0, 0])
|
||||
cylinder(d=BUMPER_TUBE_OD, h=BUMPER_TUBE_OD/2 + 6);
|
||||
}
|
||||
}
|
||||
|
||||
// Deck mounting holes (M5 × 6 along length)
|
||||
for (x = [-BUMPER_L/2 + 20, -BUMPER_L/6, BUMPER_L/6, BUMPER_L/2 - 20])
|
||||
translate([x, y_pos * 0.001, -1])
|
||||
cylinder(d=M5_D, h=BUMPER_H + 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
// DIMENSIONS / ANNOTATIONS (2D cross-section reference)
|
||||
// =============================================================================
|
||||
// Uncomment to render a side-view dimension guide:
|
||||
//
|
||||
// %translate([0, FRAME_WIDTH/2 + 30, 0]) {
|
||||
// color("Blue") {
|
||||
// cube([WHEELBASE, 1, 1]); // wheelbase span
|
||||
// translate([0,0,0]) text(str("Wheelbase: ", WHEELBASE, "mm"), size=12);
|
||||
// }
|
||||
// }
|
||||
@ -1,102 +0,0 @@
|
||||
# Jetson Nano — ROS2 Humble dev container
|
||||
# Base: JetPack 4.6 (L4T R32.6.1) + CUDA 10.2
|
||||
# Arch: ARM64 (aarch64)
|
||||
|
||||
FROM nvcr.io/nvidia/l4t-base:r32.6.1
|
||||
|
||||
LABEL maintainer="sl-jetson <saltylab>"
|
||||
LABEL description="ROS2 Humble + SLAM stack for Jetson Nano self-balancing robot"
|
||||
LABEL jetpack="4.6"
|
||||
LABEL ros_distro="humble"
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
ENV ROS_DISTRO=humble
|
||||
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
|
||||
ENV PYTHONDONTWRITEBYTECODE=1
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
# ── System deps ────────────────────────────────────────────────────────────────
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
# Build tools
|
||||
build-essential cmake git wget curl \
|
||||
# Python
|
||||
python3-dev python3-pip python3-setuptools python3-wheel \
|
||||
# Serial / I2C / SPI
|
||||
i2c-tools libi2c-dev python3-smbus \
|
||||
picocom minicom setserial \
|
||||
# USB
|
||||
usbutils libusb-1.0-0-dev \
|
||||
# Misc
|
||||
locales tzdata htop tmux nano \
|
||||
# Networking
|
||||
net-tools iputils-ping \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN locale-gen en_US.UTF-8
|
||||
ENV LANG=en_US.UTF-8
|
||||
|
||||
# ── ROS2 Humble (from ROS2 apt repo — ARM64 build) ─────────────────────────────
|
||||
# Note: official humble debs for ARM64/L4T are provided via NVIDIA Isaac ROS
|
||||
# or via ros2-apt-source for 20.04 focal.
|
||||
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
|
||||
| apt-key add - && \
|
||||
echo "deb [arch=arm64] http://packages.ros.org/ros2/ubuntu focal main" \
|
||||
> /etc/apt/sources.list.d/ros2.list && \
|
||||
apt-get update && apt-get install -y --no-install-recommends \
|
||||
ros-humble-ros-base \
|
||||
ros-humble-rmw-cyclonedds-cpp \
|
||||
ros-dev-tools \
|
||||
python3-colcon-common-extensions \
|
||||
python3-rosdep \
|
||||
&& rosdep init && rosdep update \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# ── Nav / SLAM / sensor packages ──────────────────────────────────────────────
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
ros-humble-nav2-bringup \
|
||||
ros-humble-slam-toolbox \
|
||||
ros-humble-robot-localization \
|
||||
ros-humble-rplidar-ros \
|
||||
ros-humble-realsense2-camera \
|
||||
ros-humble-realsense2-description \
|
||||
ros-humble-tf2-tools \
|
||||
ros-humble-rqt \
|
||||
ros-humble-rqt-common-plugins \
|
||||
ros-humble-rviz2 \
|
||||
ros-humble-rosbridge-server \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# ── GPIO / serial Python libs ──────────────────────────────────────────────────
|
||||
RUN pip3 install --no-cache-dir \
|
||||
Jetson.GPIO \
|
||||
pyserial \
|
||||
smbus2 \
|
||||
adafruit-blinka \
|
||||
RPi.GPIO \
|
||||
numpy \
|
||||
scipy
|
||||
|
||||
# ── RealSense SDK (librealsense2 ARM64) ───────────────────────────────────────
|
||||
# Pre-built for L4T — install from Jetson Hacks script or apt source
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# librealsense2 ARM64 wheel (NVIDIA-patched for L4T)
|
||||
RUN pip3 install --no-cache-dir pyrealsense2
|
||||
|
||||
# ── Workspace setup ───────────────────────────────────────────────────────────
|
||||
RUN mkdir -p /ros2_ws/src
|
||||
WORKDIR /ros2_ws
|
||||
|
||||
# Source ROS2 in every shell
|
||||
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
|
||||
echo "source /ros2_ws/install/local_setup.bash 2>/dev/null || true" >> /root/.bashrc && \
|
||||
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc
|
||||
|
||||
# ── Entrypoint ────────────────────────────────────────────────────────────────
|
||||
COPY scripts/entrypoint.sh /entrypoint.sh
|
||||
RUN chmod +x /entrypoint.sh
|
||||
|
||||
ENTRYPOINT ["/entrypoint.sh"]
|
||||
CMD ["bash"]
|
||||
@ -1,65 +0,0 @@
|
||||
# Jetson Nano — AI/SLAM Platform Setup
|
||||
|
||||
Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
|
||||
|
||||
## Stack
|
||||
|
||||
| Component | Version / Part |
|
||||
|-----------|---------------|
|
||||
| Platform | Jetson Nano 4GB |
|
||||
| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
|
||||
| ROS2 | Humble Hawksbill |
|
||||
| DDS | CycloneDDS |
|
||||
| SLAM | slam_toolbox |
|
||||
| Nav | Nav2 |
|
||||
| Depth camera | Intel RealSense D435i |
|
||||
| LiDAR | RPLIDAR A1M8 |
|
||||
| MCU bridge | STM32F722 (USB CDC @ 921600) |
|
||||
|
||||
## Quick Start
|
||||
|
||||
```bash
|
||||
# 1. Host setup (once, on fresh JetPack 4.6)
|
||||
sudo bash scripts/setup-jetson.sh
|
||||
|
||||
# 2. Build Docker image
|
||||
bash scripts/build-and-run.sh build
|
||||
|
||||
# 3. Start full stack
|
||||
bash scripts/build-and-run.sh up
|
||||
|
||||
# 4. Open ROS2 shell
|
||||
bash scripts/build-and-run.sh shell
|
||||
```
|
||||
|
||||
## Docs
|
||||
|
||||
- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
|
||||
- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis
|
||||
|
||||
## Files
|
||||
|
||||
```
|
||||
jetson/
|
||||
├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
|
||||
├── README.md # This file
|
||||
├── docs/
|
||||
│ ├── pinout.md # GPIO/I2C/UART pinout reference
|
||||
│ └── power-budget.md # Power budget analysis (10W envelope)
|
||||
└── scripts/
|
||||
├── entrypoint.sh # Docker container entrypoint
|
||||
├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
|
||||
└── build-and-run.sh # Build/run helper
|
||||
```
|
||||
|
||||
## Power Budget (Summary)
|
||||
|
||||
| Scenario | Total |
|
||||
|---------|-------|
|
||||
| Idle | 2.9W |
|
||||
| Nominal (SLAM active) | ~10.2W |
|
||||
| Peak | 15.4W |
|
||||
|
||||
Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
|
||||
See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.
|
||||
@ -1,135 +0,0 @@
|
||||
version: "3.8"
|
||||
|
||||
# Jetson Nano — ROS2 Humble SLAM stack
|
||||
# Run with: docker compose up -d
|
||||
# Requires: NVIDIA Container Runtime (nvidia-docker2) on host
|
||||
|
||||
services:
|
||||
|
||||
# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
|
||||
saltybot-ros2:
|
||||
image: saltybot/ros2-humble:jetson-nano
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-ros2
|
||||
restart: unless-stopped
|
||||
runtime: nvidia # JetPack NVIDIA runtime
|
||||
privileged: false # use device passthrough instead
|
||||
network_mode: host # ROS2 DDS multicast needs host networking
|
||||
|
||||
environment:
|
||||
- NVIDIA_VISIBLE_DEVICES=all
|
||||
- NVIDIA_DRIVER_CAPABILITIES=all
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
- ROS_DOMAIN_ID=42
|
||||
- DISPLAY=${DISPLAY:-:0} # for RViz2 on host X11
|
||||
|
||||
volumes:
|
||||
# X11 socket for RViz2
|
||||
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||
# ROS2 workspace (host-mounted for live dev)
|
||||
- ./ros2_ws:/ros2_ws/src:rw
|
||||
# Persistent SLAM maps
|
||||
- saltybot-maps:/maps
|
||||
# Config files
|
||||
- ./config:/config:ro
|
||||
|
||||
devices:
|
||||
# RPLIDAR A1M8 — typically /dev/ttyUSB0
|
||||
- /dev/ttyUSB0:/dev/ttyUSB0
|
||||
# STM32 UART bridge — typically /dev/ttyUSB1 or /dev/ttyACM0
|
||||
- /dev/ttyUSB1:/dev/ttyUSB1
|
||||
# RealSense D435i — USB3 device, needs udev rules
|
||||
- /dev/bus/usb:/dev/bus/usb
|
||||
# I2C bus (Jetson i2c-1 = pins 3/5)
|
||||
- /dev/i2c-1:/dev/i2c-1
|
||||
# GPIO (via Jetson.GPIO)
|
||||
- /sys/class/gpio:/sys/class/gpio
|
||||
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
ros2 launch saltybot_bringup slam.launch.py
|
||||
"
|
||||
|
||||
# ── RPLIDAR driver node ────────────────────────────────────────────────────
|
||||
rplidar:
|
||||
image: saltybot/ros2-humble:jetson-nano
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-rplidar
|
||||
restart: unless-stopped
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
devices:
|
||||
- /dev/ttyUSB0:/dev/ttyUSB0
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
ros2 launch rplidar_ros rplidar_a1_launch.py
|
||||
serial_port:=/dev/ttyUSB0
|
||||
frame_id:=laser
|
||||
"
|
||||
|
||||
# ── RealSense D435i driver node ────────────────────────────────────────────
|
||||
realsense:
|
||||
image: saltybot/ros2-humble:jetson-nano
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-realsense
|
||||
restart: unless-stopped
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
devices:
|
||||
- /dev/bus/usb:/dev/bus/usb
|
||||
volumes:
|
||||
- /dev:/dev
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
ros2 launch realsense2_camera rs_launch.py
|
||||
enable_color:=true
|
||||
enable_depth:=true
|
||||
enable_gyro:=true
|
||||
enable_accel:=true
|
||||
unite_imu_method:=linear_interpolation
|
||||
depth_module.profile:=640x480x30
|
||||
rgb_camera.profile:=640x480x30
|
||||
"
|
||||
|
||||
# ── STM32 bridge node (custom serial↔ROS2 bridge) ─────────────────────────
|
||||
stm32-bridge:
|
||||
image: saltybot/ros2-humble:jetson-nano
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-stm32-bridge
|
||||
restart: unless-stopped
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
devices:
|
||||
- /dev/ttyUSB1:/dev/ttyUSB1
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
ros2 run saltybot_stm32_bridge bridge_node
|
||||
--ros-args
|
||||
-p serial_port:=/dev/ttyUSB1
|
||||
-p baud_rate:=921600
|
||||
"
|
||||
|
||||
volumes:
|
||||
saltybot-maps:
|
||||
driver: local
|
||||
@ -1,213 +0,0 @@
|
||||
# Jetson Nano — GPIO / I2C / UART Pinout Reference
|
||||
## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8
|
||||
|
||||
Last updated: 2026-02-28
|
||||
JetPack version: 4.6 (L4T R32.6.1)
|
||||
|
||||
---
|
||||
|
||||
## 40-Pin Header Overview
|
||||
|
||||
The Jetson Nano 40-pin header is physically compatible with Raspberry Pi HATs.
|
||||
Pin numbering below follows **physical board pin** (1–40) and the Jetson GPIO BCM-equivalent name.
|
||||
|
||||
```
|
||||
3.3V [ 1] [ 2] 5V
|
||||
SDA1 [ 3] [ 4] 5V ← I2C SDA (i2c-1)
|
||||
SCL1 [ 5] [ 6] GND ← I2C SCL (i2c-1)
|
||||
GPIO [ 7] [ 8] TXD0 ← UART TX (ttyTHS1)
|
||||
GND [ 9] [10] RXD0 ← UART RX (ttyTHS1)
|
||||
GPIO [11] [12] GPIO
|
||||
GPIO [13] [14] GND
|
||||
GPIO [15] [16] GPIO
|
||||
3.3V [17] [18] GPIO
|
||||
MOSI [19] [20] GND ← SPI0 MOSI
|
||||
MISO [21] [22] GPIO ← SPI0 MISO
|
||||
SCLK [23] [24] CE0 ← SPI0 CLK / CS0
|
||||
GND [25] [26] CE1 ← SPI0 CS1
|
||||
ID_SD[27] [28] ID_SC ← I2C ID EEPROM (reserved)
|
||||
GPIO [29] [30] GND
|
||||
GPIO [31] [32] GPIO
|
||||
GPIO [33] [34] GND
|
||||
GPIO [35] [36] GPIO
|
||||
GPIO [37] [38] GPIO
|
||||
GND [39] [40] GPIO
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 1. STM32F722 Bridge (UART)
|
||||
|
||||
The STM32 acts as a real-time motor + IMU controller. Communication to Jetson is via **USB CDC serial** (primary) with hardware UART as fallback.
|
||||
|
||||
### USB CDC (Primary — Recommended)
|
||||
| Connection | Detail |
|
||||
|-----------|--------|
|
||||
| Interface | USB Micro-B on STM32 dev board → USB-A on Jetson |
|
||||
| Device node | `/dev/ttyACM0` or `/dev/ttyUSB1` |
|
||||
| Baud rate | 921600 (configured in STM32 firmware) |
|
||||
| Protocol | Custom binary framing (see `src/comm/`) |
|
||||
| Power | Powered via Jetson USB 5V (500mA max from host) |
|
||||
|
||||
### Hardware UART (Fallback)
|
||||
| Jetson Pin | Signal | STM32 Pin | Notes |
|
||||
|-----------|--------|-----------|-------|
|
||||
| Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
|
||||
| Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
|
||||
| Pin 6 (GND) | GND | GND | Common ground **required** |
|
||||
|
||||
**Jetson device node:** `/dev/ttyTHS1`
|
||||
**Baud rate:** 921600, 8N1
|
||||
**Voltage level:** 3.3V — STM32F722 is 3.3V tolerant; Jetson GPIO is 3.3V
|
||||
**Do NOT use 5V** — Jetson GPIO max is 3.3V
|
||||
|
||||
```bash
|
||||
# Verify UART on Jetson
|
||||
ls /dev/ttyTHS1
|
||||
# Check permissions (add user to dialout group)
|
||||
sudo usermod -aG dialout $USER
|
||||
# Quick loopback test (connect TX→RX)
|
||||
picocom -b 921600 /dev/ttyTHS1
|
||||
```
|
||||
|
||||
**ROS2 topic mapping (STM32 bridge node):**
|
||||
| ROS2 Topic | Direction | Content |
|
||||
|-----------|-----------|---------|
|
||||
| `/stm32/imu_raw` | STM32→Jetson | IMU data (accel, gyro) at 500Hz |
|
||||
| `/stm32/motor_state` | STM32→Jetson | Motor RPM, current, temperature |
|
||||
| `/cmd_vel` | Jetson→STM32 | Velocity commands (m/s, rad/s) |
|
||||
| `/stm32/estop` | Jetson→STM32 | Emergency stop signal |
|
||||
|
||||
---
|
||||
|
||||
## 2. RealSense D435i (USB3)
|
||||
|
||||
The D435i provides RGB-D (depth + color) and IMU (accelerometer + gyroscope).
|
||||
|
||||
### Connection
|
||||
| Parameter | Value |
|
||||
|-----------|-------|
|
||||
| Interface | USB 3.1 Gen 1 (USB-A on Jetson) |
|
||||
| Device node | `/dev/bus/usb/...` (udev-managed) |
|
||||
| USB PID:VID | `0x8086:0x0b3a` (D435i) |
|
||||
| Power draw | ~1.5W active, 3.5W peak during init |
|
||||
| Cable | USB 3.1 — use **short cable ≤1m** for stability |
|
||||
|
||||
**Note:** The Jetson Nano has **4× USB-A ports** — use a USB3 port (blue) for D435i.
|
||||
|
||||
```bash
|
||||
# Verify detection
|
||||
lsusb | grep Intel
|
||||
# Expected: Bus 002 Device 003: ID 8086:0b3a Intel Corp. Intel RealSense D435i
|
||||
|
||||
# Install udev rules (required for non-root access)
|
||||
sudo cp /etc/udev/rules.d/99-realsense-libusb.rules /etc/udev/rules.d/
|
||||
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||
|
||||
# Test with realsense-viewer (if installed)
|
||||
realsense-viewer
|
||||
```
|
||||
|
||||
**ROS2 topics published:**
|
||||
| Topic | Type | Rate |
|
||||
|-------|------|------|
|
||||
| `/camera/color/image_raw` | `sensor_msgs/Image` | 30Hz |
|
||||
| `/camera/depth/image_rect_raw` | `sensor_msgs/Image` | 30Hz |
|
||||
| `/camera/aligned_depth_to_color/image_raw` | `sensor_msgs/Image` | 30Hz |
|
||||
| `/camera/imu` | `sensor_msgs/Imu` | 400Hz |
|
||||
| `/camera/color/camera_info` | `sensor_msgs/CameraInfo` | 30Hz |
|
||||
|
||||
---
|
||||
|
||||
## 3. RPLIDAR A1M8 (UART via USB adapter)
|
||||
|
||||
The A1M8 uses a CP2102/CH340 USB-UART adapter (included in kit).
|
||||
|
||||
### Connection
|
||||
| Parameter | Value |
|
||||
|-----------|-------|
|
||||
| Interface | USB Micro-B (via included USB-UART adapter) |
|
||||
| Device node | `/dev/ttyUSB0` (first USB-UART device) |
|
||||
| Baud rate | 115200 |
|
||||
| Power draw | ~2.6W motor on, 0.4W idle |
|
||||
| Motor control | DTR line (handled by rplidar_ros driver) |
|
||||
|
||||
```bash
|
||||
# Verify detection
|
||||
ls /dev/ttyUSB*
|
||||
# Expected: /dev/ttyUSB0
|
||||
|
||||
# Set permissions
|
||||
sudo usermod -aG dialout $USER
|
||||
|
||||
# Test — should output scan data
|
||||
ros2 launch rplidar_ros rplidar_a1_launch.py serial_port:=/dev/ttyUSB0
|
||||
```
|
||||
|
||||
**ROS2 topics published:**
|
||||
| Topic | Type | Rate |
|
||||
|-------|------|------|
|
||||
| `/scan` | `sensor_msgs/LaserScan` | 10Hz |
|
||||
|
||||
**udev rule (set consistent device name):**
|
||||
```bash
|
||||
# /etc/udev/rules.d/99-rplidar.rules
|
||||
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
|
||||
SYMLINK+="rplidar", MODE="0666"
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. I2C Bus (i2c-1) — Pin 3 / Pin 5
|
||||
|
||||
Available for future peripherals (IMU breakout, OLED display, etc.).
|
||||
|
||||
| Parameter | Value |
|
||||
|-----------|-------|
|
||||
| Jetson I2C bus | i2c-1 (pins 3 = SDA, 5 = SCL) |
|
||||
| Voltage | 3.3V pull-up |
|
||||
| Max clock | 400kHz (Fast Mode) |
|
||||
| Current source | Jetson 3.3V rail (max ~500mA shared) |
|
||||
|
||||
```bash
|
||||
# Scan i2c-1 bus
|
||||
i2cdetect -y -r 1
|
||||
```
|
||||
|
||||
**Note:** i2c-0 (pins 27/28) is reserved for EEPROM ID — do not use.
|
||||
|
||||
---
|
||||
|
||||
## 5. GPIO Summary Table
|
||||
|
||||
| Physical Pin | Jetson GPIO | Voltage | Current Used For |
|
||||
|-------------|-------------|---------|-----------------|
|
||||
| 3 | SDA1 | 3.3V | I2C data (i2c-1) |
|
||||
| 5 | SCL1 | 3.3V | I2C clock (i2c-1) |
|
||||
| 8 | TXD0 | 3.3V | UART TX → STM32 (fallback) |
|
||||
| 10 | RXD0 | 3.3V | UART RX ← STM32 (fallback) |
|
||||
| USB-A (×4) | — | 5V | D435i, RPLIDAR adapter, STM32 USB |
|
||||
|
||||
---
|
||||
|
||||
## 6. Device Enumeration Notes
|
||||
|
||||
USB devices may enumerate differently across reboots. Use udev rules for stable names:
|
||||
|
||||
```bash
|
||||
# /etc/udev/rules.d/99-saltybot.rules
|
||||
|
||||
# RPLIDAR A1M8 (SiliconLabs CP2102)
|
||||
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
|
||||
SYMLINK+="rplidar", MODE="0666"
|
||||
|
||||
# STM32 USB CDC (STMicroelectronics)
|
||||
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
|
||||
SYMLINK+="stm32-bridge", MODE="0666"
|
||||
```
|
||||
|
||||
Apply rules:
|
||||
```bash
|
||||
sudo cp docs/99-saltybot.rules /etc/udev/rules.d/
|
||||
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||
```
|
||||
@ -1,188 +0,0 @@
|
||||
# Jetson Nano Power Budget Analysis
|
||||
## Self-Balancing Robot — 10W Envelope
|
||||
|
||||
Last updated: 2026-02-28
|
||||
Target: Operate within 10W SoC power envelope (MAXN 10W mode)
|
||||
|
||||
---
|
||||
|
||||
## Power Modes
|
||||
|
||||
Jetson Nano supports two NVPModel power modes:
|
||||
|
||||
| Mode | GPU | CPU cores | CPU freq | Memory freq | TDP |
|
||||
|------|-----|-----------|----------|-------------|-----|
|
||||
| **MAXN (Mode 0)** | 128 core | 4 | 1.43GHz | 1600MHz | **10W** |
|
||||
| 5W (Mode 1) | 128 core | 2 | 0.92GHz | 1600MHz | 5W |
|
||||
|
||||
For this robot, we target **MAXN 10W mode** with careful peripheral management.
|
||||
|
||||
```bash
|
||||
# Check current mode
|
||||
sudo nvpmodel -q
|
||||
|
||||
# Set 10W MAXN mode
|
||||
sudo nvpmodel -m 0
|
||||
|
||||
# Set 5W mode (thermal/battery save)
|
||||
sudo nvpmodel -m 1
|
||||
|
||||
# Monitor power in real time
|
||||
sudo tegrastats
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Component Power Budget
|
||||
|
||||
### SoC (Jetson Nano Module)
|
||||
|
||||
| Component | Idle (W) | Load (W) | Peak (W) | Notes |
|
||||
|-----------|----------|----------|----------|-------|
|
||||
| CPU (4× Cortex-A57) | 1.0 | 3.5 | 4.0 | ROS2 + SLAM compute |
|
||||
| GPU (128-core Maxwell) | 0.5 | 2.5 | 3.0 | Depth processing, ML inference |
|
||||
| DDR4 RAM (4GB) | 0.3 | 0.6 | 0.8 | |
|
||||
| eMMC / SD | 0.1 | 0.2 | 0.3 | |
|
||||
| **SoC Subtotal** | **1.9** | **6.8** | **8.1** | |
|
||||
|
||||
### Peripherals (USB / GPIO)
|
||||
|
||||
| Peripheral | Idle (W) | Active (W) | Peak (W) | Interface | Notes |
|
||||
|-----------|----------|------------|----------|-----------|-------|
|
||||
| RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init |
|
||||
| RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning |
|
||||
| STM32F722 bridge | 0.3 | 0.5 | 0.8 | USB CDC | Powered from Jetson USB |
|
||||
| **Peripheral Subtotal** | **1.0** | **4.6** | **7.3** | | |
|
||||
|
||||
### Total System (from Jetson 5V barrel jack)
|
||||
|
||||
| Scenario | SoC (W) | Peripherals (W) | **Total (W)** | Margin |
|
||||
|----------|---------|-----------------|---------------|--------|
|
||||
| Idle | 1.9 | 1.0 | **2.9** | +7.1W |
|
||||
| Nominal (SLAM running) | 6.8 | 4.6 | **11.4** | **-1.4W ⚠️** |
|
||||
| Peak (all active, ML) | 8.1 | 7.3 | **15.4** | **-5.4W ❌** |
|
||||
|
||||
---
|
||||
|
||||
## Budget Compliance Strategy
|
||||
|
||||
The nominal load of **11.4W exceeds the 10W envelope** — mitigation required:
|
||||
|
||||
### Mitigation 1: RPLIDAR Power Gating
|
||||
The RPLIDAR motor can be stopped when not scanning. The ROS2 driver handles this via DTR line.
|
||||
|
||||
| Mode | Savings |
|
||||
|------|---------|
|
||||
| RPLIDAR motor off | −2.2W |
|
||||
| RPLIDAR idle | 0.4W vs 2.6W |
|
||||
|
||||
### Mitigation 2: RealSense Resolution Reduction
|
||||
Lower RGB-D resolution reduces USB bandwidth and D435i processing:
|
||||
|
||||
| Profile | Power |
|
||||
|---------|-------|
|
||||
| 1280×720 @ 30fps | 1.5W |
|
||||
| 640×480 @ 30fps | 1.1W ← **Recommended** |
|
||||
| 424×240 @ 30fps | 0.8W |
|
||||
|
||||
### Mitigation 3: Jetson GPU Workload Scheduling
|
||||
Avoid running depth inference and SLAM simultaneously at full throttle:
|
||||
|
||||
```bash
|
||||
# Cap GPU frequency (reduce from max 921.6MHz)
|
||||
sudo jetson_clocks --show
|
||||
# Set conservative clocks
|
||||
echo 614400000 | sudo tee /sys/devices/17000000.gp10b/devfreq/17000000.gp10b/min_freq
|
||||
```
|
||||
|
||||
### Mitigation 4: STM32 Self-Powered
|
||||
Power STM32 from robot's 5V bus (separate from Jetson USB rail):
|
||||
|
||||
| Option | Jetson USB load |
|
||||
|--------|----------------|
|
||||
| STM32 powered from Jetson USB | 0.5W |
|
||||
| STM32 powered from robot 5V | **0W** (data only via USB) |
|
||||
|
||||
---
|
||||
|
||||
## Revised Budget with Mitigations
|
||||
|
||||
Applying: 640×480 D435i + RPLIDAR gating + STM32 self-powered:
|
||||
|
||||
| Component | Power (W) |
|
||||
|-----------|-----------|
|
||||
| CPU (SLAM, 4 cores) | 3.5 |
|
||||
| GPU (depth processing) | 2.0 |
|
||||
| RAM + misc SoC | 1.0 |
|
||||
| RealSense D435i (640×480) | 1.1 |
|
||||
| RPLIDAR A1M8 (active) | 2.6 |
|
||||
| STM32 bridge (self-powered) | 0.0 |
|
||||
| **Total** | **10.2W** |
|
||||
|
||||
**Near-compliant at 10.2W.** Further savings achievable by:
|
||||
- Enabling RPLIDAR standby between scan cycles (−0.5W avg)
|
||||
- Using 5W nvpmodel during motor-heavy phases
|
||||
|
||||
---
|
||||
|
||||
## Input Power Requirements
|
||||
|
||||
### Jetson Nano Power Input
|
||||
| Spec | Value |
|
||||
|------|-------|
|
||||
| Input connector | 5.5mm / 2.1mm barrel jack |
|
||||
| Input voltage | 5V DC |
|
||||
| Recommended current | ≥4A (20W supply for headroom) |
|
||||
| Absolute max | 5.25V |
|
||||
|
||||
> **Use a 5V 4A supply minimum.** A 2A supply will brownout under load.
|
||||
|
||||
### Robot Power Architecture (Recommended)
|
||||
|
||||
```
|
||||
LiPo 3S (12.6V max)
|
||||
│
|
||||
├─► DC-DC Buck → 5V 5A ──► Jetson Nano barrel jack
|
||||
│ (e.g., XL4016)
|
||||
│
|
||||
├─► DC-DC Buck → 5V 3A ──► STM32 + logic 5V rail
|
||||
│
|
||||
└─► Hoverboard ESC ──► Hub motors (48V loop)
|
||||
```
|
||||
|
||||
This isolates the Jetson 5V supply from motor switching noise.
|
||||
|
||||
---
|
||||
|
||||
## Real-Time Monitoring
|
||||
|
||||
```bash
|
||||
# Live power telemetry
|
||||
sudo tegrastats --interval 500
|
||||
|
||||
# Key fields:
|
||||
# POM_5V_IN X/Y — total input power (current W / average W)
|
||||
# POM_5V_GPU X/Y — GPU power
|
||||
# POM_5V_CPU X/Y — CPU power
|
||||
|
||||
# Log to file
|
||||
sudo tegrastats --interval 1000 --logfile /tmp/power_log.txt &
|
||||
|
||||
# Parse log
|
||||
grep "POM_5V_IN" /tmp/power_log.txt | \
|
||||
awk '{for(i=1;i<=NF;i++) if($i=="POM_5V_IN") print $(i+1)}' | \
|
||||
awk -F'/' '{sum+=$1; count++} END {print "Avg:", sum/count, "mW"}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Summary
|
||||
|
||||
| Metric | Value |
|
||||
|--------|-------|
|
||||
| Target envelope | 10W |
|
||||
| Nominal (no mitigation) | 11.4W |
|
||||
| Nominal (with mitigations) | ~10.2W |
|
||||
| Compliant scenario | RPLIDAR standby + 640p D435i |
|
||||
| Recommended PSU | 5V 4A (20W) |
|
||||
| Power mode | nvpmodel MAXN (Mode 0) |
|
||||
@ -1,51 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
# Quick build + run helper for the Jetson ROS2 stack
|
||||
# Usage: bash build-and-run.sh [build|up|down|logs|shell]
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
JETSON_DIR="$(dirname "$SCRIPT_DIR")"
|
||||
|
||||
cd "$JETSON_DIR"
|
||||
|
||||
ACTION="${1:-up}"
|
||||
|
||||
case "$ACTION" in
|
||||
build)
|
||||
echo "[saltybot] Building ROS2 Docker image..."
|
||||
docker compose build --no-cache
|
||||
;;
|
||||
up)
|
||||
echo "[saltybot] Starting ROS2 stack..."
|
||||
docker compose up -d
|
||||
docker compose logs -f
|
||||
;;
|
||||
down)
|
||||
echo "[saltybot] Stopping ROS2 stack..."
|
||||
docker compose down
|
||||
;;
|
||||
logs)
|
||||
docker compose logs -f
|
||||
;;
|
||||
shell)
|
||||
echo "[saltybot] Opening shell in ros2 container..."
|
||||
docker compose exec saltybot-ros2 bash
|
||||
;;
|
||||
slam)
|
||||
echo "[saltybot] Launching SLAM only..."
|
||||
docker compose up -d rplidar realsense saltybot-ros2
|
||||
docker compose logs -f saltybot-ros2
|
||||
;;
|
||||
status)
|
||||
docker compose ps
|
||||
echo ""
|
||||
echo "--- ROS2 topics (requires running container) ---"
|
||||
docker compose exec saltybot-ros2 \
|
||||
bash -c "source /opt/ros/humble/setup.bash && ros2 topic list" 2>/dev/null || true
|
||||
;;
|
||||
*)
|
||||
echo "Usage: $0 [build|up|down|logs|shell|slam|status]"
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
@ -1,18 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
# Docker entrypoint for Jetson Nano ROS2 container
|
||||
|
||||
set -e
|
||||
|
||||
# Source ROS2
|
||||
source /opt/ros/humble/setup.bash
|
||||
|
||||
# Source workspace if built
|
||||
if [ -f /ros2_ws/install/local_setup.bash ]; then
|
||||
source /ros2_ws/install/local_setup.bash
|
||||
fi
|
||||
|
||||
# Set DDS implementation
|
||||
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
|
||||
echo "[saltybot] ROS2 Humble ready — domain ID: ${ROS_DOMAIN_ID:-42}"
|
||||
exec "$@"
|
||||
@ -1,127 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
# Jetson Nano host setup script
|
||||
# Run once on fresh JetPack 4.6 installation
|
||||
# Usage: sudo bash setup-jetson.sh
|
||||
|
||||
set -euo pipefail
|
||||
|
||||
echo "=== Jetson Nano Host Setup — saltybot ==="
|
||||
echo "JetPack 4.6 / L4T R32.6.1 expected"
|
||||
|
||||
# ── Verify we're on Jetson ────────────────────────────────────────────────────
|
||||
if ! uname -m | grep -q aarch64; then
|
||||
echo "ERROR: Must run on Jetson (aarch64). Got: $(uname -m)"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# ── System update ─────────────────────────────────────────────────────────────
|
||||
apt-get update && apt-get upgrade -y
|
||||
|
||||
# ── Install Docker + NVIDIA runtime ──────────────────────────────────────────
|
||||
if ! command -v docker &>/dev/null; then
|
||||
echo "[+] Installing Docker..."
|
||||
curl -fsSL https://get.docker.com | sh
|
||||
usermod -aG docker "$SUDO_USER"
|
||||
fi
|
||||
|
||||
# NVIDIA container runtime
|
||||
if ! dpkg -l | grep -q nvidia-container-runtime; then
|
||||
echo "[+] Installing NVIDIA Container Runtime..."
|
||||
distribution=$(. /etc/os-release; echo $ID$VERSION_ID)
|
||||
curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | apt-key add -
|
||||
curl -s -L "https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list" \
|
||||
> /etc/apt/sources.list.d/nvidia-container-runtime.list
|
||||
apt-get update
|
||||
apt-get install -y nvidia-container-runtime
|
||||
fi
|
||||
|
||||
# Configure Docker daemon for NVIDIA runtime
|
||||
cat > /etc/docker/daemon.json << 'EOF'
|
||||
{
|
||||
"runtimes": {
|
||||
"nvidia": {
|
||||
"path": "nvidia-container-runtime",
|
||||
"runtimeArgs": []
|
||||
}
|
||||
},
|
||||
"default-runtime": "nvidia"
|
||||
}
|
||||
EOF
|
||||
systemctl restart docker
|
||||
|
||||
# ── Set Jetson power mode to MAXN 10W ────────────────────────────────────────
|
||||
echo "[+] Setting MAXN 10W power mode..."
|
||||
nvpmodel -m 0
|
||||
jetson_clocks
|
||||
|
||||
# ── Install udev rules ────────────────────────────────────────────────────────
|
||||
echo "[+] Installing udev rules..."
|
||||
cat > /etc/udev/rules.d/99-saltybot.rules << 'EOF'
|
||||
# RPLIDAR A1M8 (SiliconLabs CP2102)
|
||||
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
|
||||
SYMLINK+="rplidar", MODE="0666"
|
||||
|
||||
# STM32 USB CDC (STMicroelectronics Virtual COM)
|
||||
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
|
||||
SYMLINK+="stm32-bridge", MODE="0666"
|
||||
|
||||
# Intel RealSense D435i
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \
|
||||
MODE="0666"
|
||||
EOF
|
||||
|
||||
udevadm control --reload-rules
|
||||
udevadm trigger
|
||||
|
||||
# ── Install RealSense udev rules ──────────────────────────────────────────────
|
||||
echo "[+] Installing RealSense udev rules..."
|
||||
if [ -f /etc/udev/rules.d/99-realsense-libusb.rules ]; then
|
||||
echo " Already installed."
|
||||
else
|
||||
# Download from librealsense repo
|
||||
wget -q -O /etc/udev/rules.d/99-realsense-libusb.rules \
|
||||
https://raw.githubusercontent.com/IntelRealSense/librealsense/master/config/99-realsense-libusb.rules
|
||||
udevadm control --reload-rules
|
||||
udevadm trigger
|
||||
fi
|
||||
|
||||
# ── Enable I2C + UART ─────────────────────────────────────────────────────────
|
||||
echo "[+] Enabling I2C and UART..."
|
||||
modprobe i2c-dev
|
||||
# Add user to i2c and dialout groups
|
||||
usermod -aG i2c,dialout,gpio "$SUDO_USER"
|
||||
|
||||
# ── Configure UART (disable console on ttyTHS1) ───────────────────────────────
|
||||
# ttyTHS1 is the 40-pin header UART — disable serial console to free it
|
||||
if grep -q "console=ttyS0" /boot/extlinux/extlinux.conf; then
|
||||
echo "[+] UART ttyTHS1 already free for application use."
|
||||
else
|
||||
echo "[!] Warning: Check /boot/extlinux/extlinux.conf if serial console"
|
||||
echo " is using ttyTHS1. Disable it to use UART for STM32 bridge."
|
||||
fi
|
||||
|
||||
# ── Docker Compose ────────────────────────────────────────────────────────────
|
||||
if ! command -v docker-compose &>/dev/null && ! docker compose version &>/dev/null 2>&1; then
|
||||
echo "[+] Installing docker-compose..."
|
||||
pip3 install docker-compose
|
||||
fi
|
||||
|
||||
# ── Swap (improve stability under memory pressure) ────────────────────────────
|
||||
if [ "$(swapon --show | wc -l)" -le 1 ]; then
|
||||
echo "[+] Creating 4GB swap file..."
|
||||
fallocate -l 4G /swapfile
|
||||
chmod 600 /swapfile
|
||||
mkswap /swapfile
|
||||
swapon /swapfile
|
||||
echo '/swapfile none swap sw 0 0' >> /etc/fstab
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "=== Setup complete ==="
|
||||
echo "Please log out and back in for group membership to take effect."
|
||||
echo ""
|
||||
echo "Next steps:"
|
||||
echo " 1. cd jetson/"
|
||||
echo " 2. docker compose build"
|
||||
echo " 3. docker compose up -d"
|
||||
echo " 4. docker compose logs -f"
|
||||
@ -140,6 +140,7 @@ done:
|
||||
USBD_CDC_ItfTypeDef USBD_CDC_fops = { CDC_Init, CDC_DeInit, CDC_Control, CDC_Receive };
|
||||
|
||||
uint8_t CDC_Transmit(uint8_t *buf, uint16_t len) {
|
||||
|
||||
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)hUsbDevice.pClassData;
|
||||
if (hcdc == NULL) return USBD_FAIL;
|
||||
if (hcdc->TxState != 0) {
|
||||
@ -148,12 +149,6 @@ uint8_t CDC_Transmit(uint8_t *buf, uint16_t len) {
|
||||
if (++busy_count > 100) { hcdc->TxState = 0; busy_count = 0; }
|
||||
return USBD_BUSY;
|
||||
}
|
||||
/* Always copy into the static UserTxBuffer so the USB hardware reads
|
||||
* from a known fixed SRAM address — never from the caller's stack.
|
||||
* The USB TXFE IRQ fires asynchronously; a stack buffer could be
|
||||
* overwritten by the time the FIFO is loaded. */
|
||||
if (len > sizeof(UserTxBuffer)) len = sizeof(UserTxBuffer);
|
||||
memcpy(UserTxBuffer, buf, len);
|
||||
USBD_CDC_SetTxBuffer(&hUsbDevice, UserTxBuffer, len);
|
||||
USBD_CDC_SetTxBuffer(&hUsbDevice, buf, len);
|
||||
return USBD_CDC_TransmitPacket(&hUsbDevice);
|
||||
}
|
||||
|
||||
@ -1,264 +0,0 @@
|
||||
# bd-wax: Jetson Nano + RealSense D435i + RPLIDAR SLAM Setup — Technical Plan
|
||||
|
||||
**Bead:** bd-wax
|
||||
**Phase:** 2 (lower priority than Phase 1 balance)
|
||||
**Owner:** sl-perception
|
||||
**Hardware:** Jetson Nano 4GB + Intel RealSense D435i + RPLIDAR A1M8
|
||||
**Goal:** Indoor SLAM, mapping, and autonomous navigation (person-following)
|
||||
|
||||
---
|
||||
|
||||
## Hardware Summary
|
||||
|
||||
| Component | Specs |
|
||||
|-----------|-------|
|
||||
| Jetson Nano 4GB | Quad-core ARM Cortex-A57 @ 1.43GHz, 128-core Maxwell GPU, 4GB LPDDR4 |
|
||||
| RealSense D435i | Stereo depth (0.1–10m), 848×480 @ 90fps, BMI055 IMU (accel+gyro) |
|
||||
| RPLIDAR A1M8 | 360° 2D LIDAR, 12m range, 8000 samples/s, ~5.5Hz scan rate |
|
||||
|
||||
---
|
||||
|
||||
## 1. OS & ROS2 Environment
|
||||
|
||||
### Recommended: Docker on JetPack 4.6 (Ubuntu 18.04 / L4T 32.x)
|
||||
|
||||
Jetson Nano ships with JetPack 4.6 (Ubuntu 18.04). Native ROS2 Humble requires Ubuntu 22.04, so **Docker is the correct approach**:
|
||||
|
||||
- NVIDIA provides official ROS2 containers for Jetson via [dusty-nv/jetson-containers](https://github.com/dusty-nv/jetson-containers)
|
||||
- Container: `dustynv/ros:humble-ros-base-l4t-r32.7.1` (arm64, CUDA 10.2)
|
||||
- Compose file pins container, mounts device nodes (`/dev/video*`, `/dev/ttyUSB*`), and handles GPU access
|
||||
|
||||
**Alternative: JetPack 5.x (Ubuntu 20.04)** allows native ROS2 Foxy but requires flashing newer JetPack — only worth it if we need direct hardware access outside Docker.
|
||||
|
||||
**Decision:** Use JetPack 4.6 + Docker (Humble). Fastest path, avoids full OS reflash, proven for Nano.
|
||||
|
||||
---
|
||||
|
||||
## 2. SLAM Stack Recommendation
|
||||
|
||||
### Recommendation: RTAB-Map (primary) with ORB-SLAM3 as fallback
|
||||
|
||||
#### Why RTAB-Map
|
||||
|
||||
| Criterion | ORB-SLAM3 | RTAB-Map |
|
||||
|-----------|-----------|----------|
|
||||
| Sensor fusion (D435i + RPLIDAR) | D435i only | D435i + RPLIDAR natively |
|
||||
| Output map type | Sparse 3D point cloud | Dense 2D occupancy + 3D point cloud |
|
||||
| Nav2 compatibility | Needs wrapper | Direct occupancy map output |
|
||||
| ATE RMSE accuracy | 0.009m | 0.019m |
|
||||
| Nano resource usage | Lower | Higher (needs tuning) |
|
||||
| Loop closure robustness | Good | Excellent |
|
||||
|
||||
RTAB-Map's `subscribe_scan` mode uses the RPLIDAR A1M8 as the primary 2D odometry front-end (fast, low-CPU) with the D435i providing depth for loop closure and 3D reconstruction. This hybrid approach is well-documented for Nano deployments.
|
||||
|
||||
**Note:** Cannot simultaneously use `subscribe_scan` (2D LIDAR) and `subscribe_scan_cloud` (3D point cloud) in RTAB-Map — use 2D mode.
|
||||
|
||||
#### ORB-SLAM3 Role
|
||||
|
||||
Keep ORB-SLAM3 as a lightweight visual odometry alternative if RTAB-Map proves too heavy for real-time operation. Can feed its odometry output into RTAB-Map's map management node.
|
||||
|
||||
---
|
||||
|
||||
## 3. Software Architecture
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────┐
|
||||
│ Jetson Nano (Docker) │
|
||||
│ │
|
||||
│ ┌───────────────┐ ┌──────────────────────────┐ │
|
||||
│ │ realsense2_ │ │ rplidar_ros2 │ │
|
||||
│ │ camera node │ │ /scan (LaserScan) │ │
|
||||
│ │ │ │ 5.5Hz, 360°, 12m range │ │
|
||||
│ │ /depth/image │ └──────────┬───────────────┘ │
|
||||
│ │ /color/image │ │ │
|
||||
│ │ /imu │ │ │
|
||||
│ └──────┬────────┘ │ │
|
||||
│ │ │ │
|
||||
│ └──────────┬─────────────┘ │
|
||||
│ ▼ │
|
||||
│ ┌──────────────────┐ │
|
||||
│ │ rtabmap_ros │ │
|
||||
│ │ │ │
|
||||
│ │ subscribe_scan=true (RPLIDAR) │
|
||||
│ │ subscribe_rgbd=true (D435i depth) │
|
||||
│ │ │ │
|
||||
│ │ → /map (OccupancyGrid) │
|
||||
│ │ → /rtabmap/odom │
|
||||
│ │ → /rtabmap/cloud_map (3D) │
|
||||
│ └──────────┬────────┘ │
|
||||
│ │ │
|
||||
│ ▼ │
|
||||
│ ┌──────────────────┐ │
|
||||
│ │ nav2 stack │ (Phase 2b) │
|
||||
│ │ (reduced freq) │ │
|
||||
│ │ 5-10Hz costmap │ │
|
||||
│ └──────────────────┘ │
|
||||
└─────────────────────────────────────────────────────┘
|
||||
│ │
|
||||
USB3 (D435i) USB2 (RPLIDAR)
|
||||
```
|
||||
|
||||
### ROS2 Node Graph
|
||||
|
||||
| Node | Package | Key Topics |
|
||||
|------|---------|------------|
|
||||
| `camera/realsense2_camera_node` | `realsense2_camera` | `/camera/depth/image_rect_raw`, `/camera/color/image_raw`, `/camera/imu` |
|
||||
| `rplidar_node` | `rplidar_ros` | `/scan` |
|
||||
| `rtabmap` | `rtabmap_ros` | `/map`, `/rtabmap/odom`, `/rtabmap/cloud_map` |
|
||||
| `robot_state_publisher` | `robot_state_publisher` | `/tf` (static transforms) |
|
||||
|
||||
---
|
||||
|
||||
## 4. Implementation Phases
|
||||
|
||||
### Phase 2a — SLAM Bring-up (this bead, bd-wax)
|
||||
|
||||
**Deliverables:**
|
||||
- [ ] Docker Compose file (`docker/slam/docker-compose.yml`)
|
||||
- [ ] ROS2 Humble container with RTAB-Map + RealSense + RPLIDAR packages
|
||||
- [ ] Launch file: `launch/slam.launch.py` (RTAB-Map + both sensor nodes)
|
||||
- [ ] URDF/static TF: D435i and RPLIDAR positions on robot frame
|
||||
- [ ] `README.md` for Jetson setup instructions
|
||||
|
||||
**Out of scope (Phase 2b):**
|
||||
- Nav2 autonomous navigation
|
||||
- Person-following
|
||||
- Integration with STM32 motor commands (needs Phase 1 balance complete first)
|
||||
|
||||
### Phase 2b — Nav2 Integration (separate bead)
|
||||
|
||||
- Nav2 stack with pre-built occupancy maps
|
||||
- 5–10Hz costmap updates (reduced from desktop default 20Hz)
|
||||
- Velocity command bridge: Nav2 `/cmd_vel` → STM32 via serial/ROS2 bridge
|
||||
- Person detection (YOLOv5 on Nano, or TensorRT-optimized)
|
||||
|
||||
---
|
||||
|
||||
## 5. Key Configuration Parameters
|
||||
|
||||
### RTAB-Map Tuning for Jetson Nano
|
||||
|
||||
```yaml
|
||||
# rtabmap_ros params — power/performance tradeoffs for Nano
|
||||
rtabmap:
|
||||
Rtabmap/DetectionRate: "2" # Process keyframes at 2Hz (not every frame)
|
||||
Rtabmap/TimeThr: "700" # Max processing time 700ms per iteration
|
||||
Kp/MaxFeatures: "400" # Reduce keypoints from default 1000
|
||||
Vis/MaxFeatures: "400"
|
||||
RGBD/LinearUpdate: "0.1" # Only update map if moved 10cm
|
||||
RGBD/AngularUpdate: "0.09" # Or rotated ~5 degrees
|
||||
Mem/STMSize: "30" # Short-term memory limit (saves RAM)
|
||||
Grid/3D: "false" # Use 2D occupancy only (lighter)
|
||||
Grid/RangeMin: "0.5" # Ignore points closer than 0.5m
|
||||
Grid/RangeMax: "5.0" # Limit to 5m (A1M8 is reliable to ~8m)
|
||||
```
|
||||
|
||||
### RealSense D435i Launch Params
|
||||
|
||||
```yaml
|
||||
# realsense2_camera — reduce load on Nano
|
||||
depth_module.profile: "640x480x15" # 15fps depth (not 90fps)
|
||||
rgb_camera.profile: "640x480x15" # 15fps color
|
||||
enable_gyro: true
|
||||
enable_accel: true
|
||||
unite_imu_method: 2 # Publish unified /camera/imu topic
|
||||
align_depth.enable: true
|
||||
```
|
||||
|
||||
### RPLIDAR
|
||||
|
||||
```yaml
|
||||
serial_port: "/dev/ttyUSB0"
|
||||
serial_baudrate: 115200
|
||||
scan_mode: "Standard" # A1M8 only supports Standard mode
|
||||
frame_id: "laser_frame"
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 6. Static TF / URDF Robot Frame
|
||||
|
||||
Robot coordinate frame (`base_link`) transforms needed:
|
||||
|
||||
```
|
||||
base_link
|
||||
├── laser_frame (RPLIDAR A1M8 — top center of robot)
|
||||
├── camera_link (RealSense D435i — front, ~camera_height above base)
|
||||
│ ├── camera_depth_frame
|
||||
│ └── camera_imu_frame
|
||||
└── imu_link (STM32 IMU — FC board location)
|
||||
```
|
||||
|
||||
Transforms will be defined in `urdf/saltybot.urdf.xacro` with measured offsets once hardware is physically mounted.
|
||||
|
||||
---
|
||||
|
||||
## 7. Power Budget Concern
|
||||
|
||||
Jetson Nano 4GB maximum draw: **10W** (5V/2A barrel jack mode)
|
||||
|
||||
| Component | Estimated Draw |
|
||||
|-----------|---------------|
|
||||
| Jetson Nano (under SLAM load) | 7–8W |
|
||||
| RealSense D435i (USB3) | 1.5W |
|
||||
| RPLIDAR A1M8 (USB) | 0.5W |
|
||||
| **Total** | **~10W** |
|
||||
|
||||
**Risk:** Marginal power budget. Recommend:
|
||||
1. Use 5V/4A supply (requires Jetson J48 header, not USB-C)
|
||||
2. Disable Jetson display output (`sudo systemctl disable gdm3`)
|
||||
3. Use `nvpmodel -m 1` (5W mode) during mapping-only tasks
|
||||
4. External powered USB hub for peripherals
|
||||
|
||||
---
|
||||
|
||||
## 8. Milestone Checklist
|
||||
|
||||
- [ ] Flash JetPack 4.6 on Nano (or verify existing install)
|
||||
- [ ] Install Docker + NVIDIA Container Runtime on Nano
|
||||
- [ ] Pull `dustynv/ros:humble-ros-base-l4t-r32.7.1` container
|
||||
- [ ] Verify D435i recognized: `realsense-viewer` or `rs-enumerate-devices`
|
||||
- [ ] Verify RPLIDAR port: `ls /dev/ttyUSB*`
|
||||
- [ ] Build/pull `realsense2_camera` ROS2 package in container
|
||||
- [ ] Build/pull `rplidar_ros` ROS2 package in container
|
||||
- [ ] Build/pull `rtabmap_ros` ROS2 package in container
|
||||
- [ ] Test individual sensor topics with `ros2 topic echo`
|
||||
- [ ] Run SLAM launch file — verify `/map` published
|
||||
- [ ] Record rosbag for offline tuning
|
||||
- [ ] Document measured TF offsets (physical mount positions)
|
||||
- [ ] Write Phase 2b bead for Nav2 integration
|
||||
|
||||
---
|
||||
|
||||
## 9. Repo Structure (to be created)
|
||||
|
||||
```
|
||||
saltylab-firmware/
|
||||
└── projects/
|
||||
└── saltybot/
|
||||
├── SLAM-SETUP-PLAN.md ← this file
|
||||
├── SALTYLAB.md ← main design doc (TBD)
|
||||
└── slam/
|
||||
├── docker/
|
||||
│ ├── docker-compose.yml
|
||||
│ └── Dockerfile.slam
|
||||
├── launch/
|
||||
│ └── slam.launch.py
|
||||
├── config/
|
||||
│ ├── rtabmap_params.yaml
|
||||
│ └── realsense_params.yaml
|
||||
└── urdf/
|
||||
└── saltybot.urdf.xacro
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 10. References
|
||||
|
||||
- [dusty-nv/jetson-containers](https://github.com/dusty-nv/jetson-containers) — official NVIDIA ROS2 Docker containers for Jetson
|
||||
- [rtabmap_ros](https://github.com/introlab/rtabmap_ros) — RTAB-Map ROS2 wrapper
|
||||
- [realsense-ros](https://github.com/IntelRealSense/realsense-ros) — Intel RealSense ROS2 wrapper
|
||||
- [rplidar_ros](https://github.com/Slamtec/rplidar_ros) — Slamtec RPLIDAR ROS2 package
|
||||
- [reedjacobp/JetsonBot](https://github.com/reedjacobp/JetsonBot) — Nano + D435i + RPLIDAR reference implementation
|
||||
- [RTAB-Map D435 + RPLidar discussion](https://answers.ros.org/question/367019/using-2-d435-cameras-and-an-rplidar-with-rtabmap/)
|
||||
- [Comparative SLAM evaluation (2024)](https://arxiv.org/html/2401.02816v1)
|
||||
@ -104,8 +104,7 @@ int icm42688_init(void) {
|
||||
HAL_GPIO_Init(MPU_CS_PORT, &gpio);
|
||||
cs_high();
|
||||
|
||||
/* DCache is disabled at startup in main.c before USB/peripherals init.
|
||||
* No SCB_DisableDCache() here — calling it after USB starts corrupts USB state. */
|
||||
SCB_DisableDCache(); /* Avoid SPI DCache issues on F7 */
|
||||
|
||||
hspi1.Instance = SPI1;
|
||||
hspi1.Init.Mode = SPI_MODE_MASTER;
|
||||
@ -138,8 +137,7 @@ int icm42688_init(void) {
|
||||
imu_type = 2;
|
||||
ret = -99; /* TODO: ICM init */
|
||||
} else {
|
||||
/* who==0 means no SPI response — must not return 0 (false success) */
|
||||
ret = (who != 0) ? -(int)who : -128;
|
||||
ret = -who;
|
||||
}
|
||||
|
||||
/* Speed up SPI for reads */
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "usbd_desc.h"
|
||||
#include "mpu6000.h"
|
||||
#include "bmp280.h"
|
||||
#include "balance.h"
|
||||
#include "hoverboard.h"
|
||||
#include "config.h"
|
||||
@ -90,7 +91,6 @@ void SysTick_Handler(void) { HAL_IncTick(); }
|
||||
|
||||
int main(void) {
|
||||
SCB_EnableICache();
|
||||
SCB_DisableDCache(); /* Must be off before USB starts — STM32F7 DCache/USB coherency */
|
||||
checkForBootloader(); /* Check RTC magic BEFORE HAL_Init — must be first thing */
|
||||
HAL_Init();
|
||||
SystemClock_Config();
|
||||
@ -112,8 +112,9 @@ int main(void) {
|
||||
*/
|
||||
safety_init();
|
||||
|
||||
/* Init IMU (MPU6000 via SPI1 — mpu6000.c wraps icm42688 + complementary filter) */
|
||||
int imu_ret = mpu6000_init() ? 0 : -1;
|
||||
/* Init IMU (MPU6000 via SPI1, complementary filter in mpu6000.c) */
|
||||
bool imu_ok = mpu6000_init();
|
||||
int imu_ret = imu_ok ? 0 : -1;
|
||||
|
||||
/* Init hoverboard ESC UART */
|
||||
hoverboard_init();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user