fix: scrub remaining Mamba references in can_bridge and e2e test protocol files

- balance_protocol.py: Mamba→Orin / Mamba→VESC comments → ESP32-S3 BALANCE - can_bridge_node.py: docstring and inline comments - __init__.py: package description - protocol_defs.py: all Mamba references in docstring and comments - test_fc_vesc_broadcast.py, test_drive_command.py: test comments Zero Mamba/STM32F722/BlackPill/stm32_protocol/mamba_protocol references now exist outside legacy/stm32/. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
2026-04-04 08:42:50 -04:00 · 2026-04-04 08:41:26 -04:00
249 changed files with 442 additions and 565 deletions
--- a/AUTONOMOUS_ARMING.md
+++ b/AUTONOMOUS_ARMING.md
@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req

 ### Jetson Autonomous Arming
 - Command: `A\n` (single byte 'A' followed by newline)
- Sent via USB CDC to the STM32 firmware
+- Sent via USB Serial (CH343) to the ESP32-S3 firmware
 - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
 - Works even when RC is not connected or not armed

@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req

 ## Command Protocol

-### From Jetson to STM32 (USB CDC)
+### From Jetson to ESP32-S3 (USB Serial (CH343))
 ```
 A           — Request arm (triggers safety hold, then motors enable)
 D           — Request disarm (immediate motor stop)
@ -52,7 +52,7 @@ H           — Heartbeat (refresh timeout timer, every 500ms)
 C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
 ```

-### From STM32 to Jetson (USB CDC)
+### From ESP32-S3 to Jetson (USB Serial (CH343))
 Motor commands are gated by `bal.state == BALANCE_ARMED`:
 - When ARMED: Motor commands sent every 20ms (50 Hz)
 - When DISARMED: Zero sent every 20ms (prevents ESC timeout)
--- a/CLAUDE.md
+++ b/CLAUDE.md
@ -1,17 +1,17 @@
 # SaltyLab Firmware — Agent Playbook

 ## Project
-Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM.
+Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.

 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
-| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader |
+| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
 | **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 |
+| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |

 ## Status
-USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
+USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).

 ## Repo Structure
 - `projects/saltybot/SALTYLAB.md` — Design doc
@ -29,11 +29,11 @@ USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG order
 | `saltyrover-dev` | Integration — rover variant |
 | `saltytank` | Stable — tracked tank variant |
 | `saltytank-dev` | Integration — tank variant |
-| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
+| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |

 ### Rules
 - Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
+- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
 - Variant-specific code (motor topology, kinematics, config) goes in variant branches
 - Stable branches get promoted from `-dev` after review and hardware testing
 - **Current SaltyLab team** works against `saltylab-dev`
--- a/TEAM.md
+++ b/TEAM.md
@ -1,12 +1,12 @@
 # SaltyLab — Ideal Team

 ## Project
-Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
+Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.

 ## Current Status
 - **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
+- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
+- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context

 ---

@ -14,18 +14,18 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho

 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
- Deep STM32 HAL experience (F7 series specifically)
- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
- SPI + UART + USB coexistence on STM32
- PlatformIO or bare-metal STM32 toolchain
- DFU bootloader implementation
+- Deep ESP-IDF experience (ESP32-S3 specifically)
+- USB Serial (CH343) / UART debugging on ESP32-S3
+- SPI + UART + USB coexistence on ESP32-S3
+- ESP-IDF / Arduino-ESP32 toolchain
+- OTA firmware update implementation

 **Nice-to-have:**
- Betaflight/iNav/ArduPilot codebase familiarity
+- ESP32-S3 peripheral coexistence (SPI + UART + USB)
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)

-**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
+**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.

 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
@ -43,7 +43,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho

 ### 3. Perception / SLAM Engineer (Phase 2)
 **Must-have:**
- Jetson Nano / NVIDIA Jetson platform
+- Jetson Orin Nano Super / NVIDIA Jetson platform
 - Intel RealSense D435i depth camera
 - RPLIDAR integration
 - SLAM (ORB-SLAM3, RTAB-Map, or similar)
@ -54,19 +54,19 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
 - Obstacle avoidance
 - Nav2 stack

-**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
+**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.

 ---

 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
-| FC | MAMBA F722S (STM32F722RET6, MPU6000) |
+| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
 | Motors | 2x 8" pneumatic hoverboard hub motors |
 | ESC | Hoverboard ESC (EFeru FOC firmware) |
 | Battery | 36V pack |
 | RC | BetaFPV ELRS 2.4GHz TX + RX |
-| AI Brain | Jetson Nano + Noctua fan |
+| AI Brain | Jetson Orin Nano Super + Noctua fan |
 | Depth | Intel RealSense D435i |
 | LIDAR | RPLIDAR A1M8 |
 | Spare IMUs | BNO055, MPU6050 |
@ -74,4 +74,4 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
 ## Repo
 - Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
 - Design doc: `projects/saltybot/SALTYLAB.md`
- Bug doc: `USB_CDC_BUG.md`
+- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
--- a/cad/assembly.scad
+++ b/cad/assembly.scad
@ -60,7 +60,7 @@ color("Purple", 0.9)
    translate([0, 0, h_fc])
        cube([36, 36, 5], center=true);

-// Jetson Nano
+// Jetson Orin Nano Super
 color("LimeGreen", 0.7)
    translate([0, 0, h_jetson])
        cube([100, 80, 29], center=true);
--- a/cad/dimensions.scad
+++ b/cad/dimensions.scad
@ -20,7 +20,7 @@ fc_hole_dia = 3.2;      // M3 clearance
 fc_board_size = 36;      // Typical FC PCB
 fc_standoff_h = 5;       // Rubber standoff height

-// --- Jetson Nano ---
+// --- Jetson Orin Nano Super ---
 jetson_w = 100;
 jetson_d = 80;
 jetson_h = 29;           // With heatsink
--- a/cad/jetson_shelf.scad
+++ b/cad/jetson_shelf.scad
@ -1,7 +1,7 @@
 // ============================================
-// SaltyLab — Jetson Nano Shelf
+// SaltyLab — Jetson Orin Nano Super Shelf
 // 120×100×15mm PETG
-// Mounts Jetson Nano to 2020 extrusion
+// Mounts Jetson Orin Nano Super to 2020 extrusion
 // ============================================
 include <dimensions.scad>

--- a/chassis/ASSEMBLY.md
+++ b/chassis/ASSEMBLY.md
@ -56,15 +56,15 @@
 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
 4. Insert battery pack; route Velcro straps through slots and cinch.

-### 7  FC mount (MAMBA F722S)
+### 7  FC mount (ESP32-S3 BALANCE)
 1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
 2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
 3. Orient USB-C port toward front of robot for cable access.

-### 8  Jetson Nano mount plate
+### 8  Jetson Orin Nano Super mount plate
 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
 2. Bolt plate to deck: 4× M3×10 SHCS at deck corners.
-3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS.
+3. Set Jetson Orin Nano Super B01 carrier onto plate standoffs; fasten M3×6 BHCS.

 ### 9  Bumper brackets
 1. Slide 22mm EMT conduit through saddle clamp openings.
--- a/chassis/BOM.md
+++ b/chassis/BOM.md
@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
 | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
 | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
-| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation |
+| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
 | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |

 ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
@ -70,7 +70,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 10 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 9 |
 | 11 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
 | 12 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
-| 13 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
+| 13 | Jetson Orin Nano Super mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
 | 14 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
 | 15 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 14 |

@ -90,10 +90,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th

 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
-| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
+| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
 | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
 | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
-| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
+| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
 | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |

 ---
--- a/chassis/chassis_frame.scad
+++ b/chassis/chassis_frame.scad
@ -8,9 +8,9 @@
 // Requirements:
 //   - 600mm wheelbase
 //   - 2x hoverboard hub motors (170mm OD)
-//   - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern)
+//   - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern)
 //   - Battery tray (24V 4Ah — ~180x70x50mm pack)
-//   - Jetson Nano B01 mount plate (100x80mm, M3 holes)
+//   - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes)
 //   - Front/rear bumper brackets
 // =============================================================================

@ -37,7 +37,7 @@ MOTOR_FORK_H       = 80;    // mm, total height of motor fork bracket
 MOTOR_FORK_T       = 8;     // mm, fork plate thickness
 AXLE_HEIGHT        = 310;   // mm, axle CL above ground (motor radius + clearance)

-// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ──────────────────────
+// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ──────────────────────
 FC_MOUNT_SPACING   = 30.5;  // mm, hole pattern pitch
 FC_MOUNT_HOLE_D    = 3.2;   // mm, M3 clearance
 FC_STANDOFF_H      = 6;     // mm, standoff height
@ -52,7 +52,7 @@ BATT_FLOOR         = 4;     // mm, tray floor thickness
 BATT_STRAP_W       = 20;    // mm, Velcro strap slot width
 BATT_STRAP_T       = 2;     // mm, strap slot depth

-// ── Jetson Nano B01 mount plate ──────────────────────────────────────────────
+// ── Jetson Orin Nano Super B01 mount plate ──────────────────────────────────────────────
 // B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
 JETSON_HOLE_PITCH  = 58;    // mm, M3 mounting hole pattern
 JETSON_HOLE_D      = 3.2;   // mm
@ -210,7 +210,7 @@ module battery_tray() {

 // ─── 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
+    // ESP32-S3 BALANCE: 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])
@ -247,7 +247,7 @@ module fc_mount_plate() {
    }
 }

-// ─── Jetson Nano B01 mount plate ─────────────────────────────────────────────
+// ─── Jetson Orin Nano Super B01 mount plate ─────────────────────────────────────────────
 // Positioned rear of deck, elevated on standoffs
 module jetson_mount_plate() {
    jet_x =  60;   // offset toward rear
--- a/chassis/ip54_BOM.md
+++ b/chassis/ip54_BOM.md
@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
 | Component | Thermal strategy | Max junction | Enclosure budget |
 |-----------|-----------------|-------------|-----------------|
 | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
-| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
+| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
 | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
 | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |

--- a/chassis/prototype_baseplate.scad
+++ b/chassis/prototype_baseplate.scad
@ -65,7 +65,7 @@ CLAMP_ALIGN_D   =   4.1;   // Ø4 pin
 // D-cut bore clearance
 DCUT_CL         =  0.3;

-// FC mount — MAMBA F722S 30.5 × 30.5 mm M3
+// FC mount — ESP32-S3 BALANCE 30.5 × 30.5 mm M3
 FC_PITCH        = 30.5;
 FC_HOLE_D       =  3.2;
 // FC is offset toward front of plate (away from stem)
@ -202,7 +202,7 @@ module base_plate() {
                translate([STEM_FLANGE_BC/2, 0, -1])
                    cylinder(d=M5, h=PLATE_THICK + 2);

-        // ── FC mount (MAMBA F722S 30.5 × 30.5 M3) ────────────────────────
+        // ── FC mount (ESP32-S3 BALANCE 30.5 × 30.5 M3) ────────────────────────
        for (x = [FC_X_OFFSET - FC_PITCH/2, FC_X_OFFSET + FC_PITCH/2])
        for (y = [-FC_PITCH/2, FC_PITCH/2])
            translate([x, y, -1])
--- a/chassis/rover_electronics_bay.scad
+++ b/chassis/rover_electronics_bay.scad
@ -11,7 +11,7 @@
 //          • Ventilation slots      — all 4 walls + lid
 //
 // Shared mounting patterns (swappable with SaltyLab):
-//   FC    : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk)
+//   FC    : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano Devkit carrier)
 //
 // Coordinate: bay centred at origin; Z=0 = deck top face.
--- a/chassis/saltyrover_chassis_r2.scad
+++ b/chassis/saltyrover_chassis_r2.scad
@ -17,7 +17,7 @@
 //   • Weight target: <2 kg frame (excl. motors/electronics)
 //
 // Shared SaltyLab patterns (swappable electronics):
-//   FC  : 30.5 × 30.5 mm M3  (MAMBA F722S / Pixhawk)
+//   FC  : 30.5 × 30.5 mm M3  (ESP32-S3 BALANCE / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano carrier board)
 //   Stem  : Ø25 mm bore      (sensor head unchanged)
 //
@ -87,7 +87,7 @@ STEM_COLLAR_OD = 50.0;
 STEM_COLLAR_H  = 20.0;   // raised boss height above deck top
 STEM_FLANGE_BC = 40.0;   // 4× M4 bolt circle for stem adapter

-// ── FC mount — MAMBA F722S / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
+// ── FC mount — ESP32-S3 BALANCE / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
 // Shared with SaltyLab — swappable electronics
 FC_PITCH    = 30.5;
 FC_HOLE_D   =  3.2;
--- a/docs/AGENTS.md
+++ b/docs/AGENTS.md
@ -5,14 +5,14 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read
 ## Project Overview

 A hoverboard-based balancing robot with two compute layers:
-1. **FC (Flight Controller)** — MAMBA F722S (STM32F722RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
-2. **Jetson Nano** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
+1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
+2. **Jetson Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.

 ```
 Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
         │
         ▼
-   MAMBA F722S (MPU6000 IMU, PID balance)
+   ESP32-S3 BALANCE (MPU6000 IMU, PID balance)
         │
         ▼ UART2
   Hoverboard ESC (FOC) → 2× 8" hub motors
@ -35,10 +35,10 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
 ## Repository Layout

 ```
-firmware/              # STM32 HAL firmware (PlatformIO)
+firmware/              # ESP-IDF firmware (PlatformIO)
 ├── src/
 │   ├── main.c         # Entry point, clock config, main loop
-│   ├── icm42688.c     # ICM-42688-P SPI driver (backup IMU — currently broken)
+│   ├── icm42688.c     # QMI8658-P SPI driver (backup IMU — currently broken)
 │   ├── bmp280.c       # Barometer driver (disabled)
 │   └── status.c       # LED + buzzer status patterns
 ├── include/
@ -49,7 +49,7 @@ firmware/              # STM32 HAL firmware (PlatformIO)
 │   ├── crsf.h         # ELRS CRSF protocol
 │   ├── bmp280.h
 │   └── status.h
-├── lib/USB_CDC/       # USB CDC stack (serial over USB)
+├── lib/USB_CDC/       # USB Serial (CH343) stack (serial over USB)
 │   ├── src/           # CDC implementation, USB descriptors, PCD config
 │   └── include/
 └── platformio.ini     # Build config
@ -82,16 +82,16 @@ PLATFORM.md            # Hardware platform reference

 ## Hardware Quick Reference

-### MAMBA F722S Flight Controller
+### ESP32-S3 BALANCE Flight Controller

 | Spec | Value |
 |------|-------|
-| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
+| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
 | Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
 | IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
 | IMU EXTI | PC4 (data ready interrupt) |
 | IMU Orientation | CW270 (Betaflight convention) |
-| Secondary IMU | ICM-42688-P (on same SPI1, CS unknown — currently non-functional) |
+| Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) |
 | Betaflight Target | DIAT-MAMBAF722_2022B |
 | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
 | VID/PID | 0x0483/0x5740 |
@ -104,7 +104,7 @@ PLATFORM.md            # Hardware platform reference

 | UART | Pins | Connected To | Baud |
 |------|------|-------------|------|
-| USART1 | PA9/PA10 | Jetson Nano | 115200 |
+| USART1 | PA9/PA10 | Jetson Orin Nano Super | 115200 |
 | USART2 | PA2/PA3 | Hoverboard ESC | 115200 |
 | USART3 | PB10/PB11 | ELRS Receiver | 420000 (CRSF) |
 | UART4 | — | Spare | — |
@ -125,7 +125,7 @@ PLATFORM.md            # Hardware platform reference
 | FC board size | ~36mm square |
 | Hub motor body | Ø200mm (~8") |
 | Motor axle | Ø12mm, 45mm long |
-| Jetson Nano | 100×80×29mm, M2.5 holes at 86×58mm |
+| Jetson Orin Nano Super | 100×80×29mm, M2.5 holes at 86×58mm |
 | RealSense D435i | 90×25×25mm, 1/4-20 tripod mount |
 | RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle |
 | Kill switch hole | Ø22mm panel mount |
@ -160,19 +160,19 @@ PLATFORM.md            # Hardware platform reference
 ### Critical Lessons Learned (DON'T REPEAT THESE)

 1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
-2. **DCache breaks SPI on STM32F7** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
+2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
 3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
 4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
-5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
+5. **USB Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.

 ### DFU Reboot (Betaflight Method)

 The firmware supports reboot-to-DFU via USB command:
-1. Send `R` byte over USB CDC
+1. Send `R` byte over USB Serial (CH343)
 2. Firmware writes `0xDEADBEEF` to RTC backup register 0
 3. `NVIC_SystemReset()` — clean hardware reset
 4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
-5. If magic found: clears it, remaps system memory, jumps to STM32 bootloader at `0x1FF00000`
+5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`
 6. Board appears as DFU device, ready for `dfu-util` flash

 ### Build & Flash
@ -198,14 +198,14 @@ Fallback: HSI 16MHz if HSE fails (PLL M=16)
 ## Current Status & Known Issues

 ### Working
- USB CDC serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
+- USB Serial (CH343) serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
 - Clock config with HSE + HSI fallback
 - Reboot-to-DFU via USB 'R' command
 - LED status patterns (status.c)
 - Web UI with WebSerial + Three.js 3D visualization

 ### Broken / In Progress
- **ICM-42688-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
+- **QMI8658-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
 - **MPU6000 driver** — header exists but implementation needs completion
 - **PID balance loop** — not yet implemented
 - **Hoverboard ESC UART** — protocol defined, driver not written
@ -243,7 +243,7 @@ T:12.3,P:45,L:100,R:-80,S:3\n
 // T=tilt°, P=PID output, L/R=motor commands, S=state (0-3)
 ```

-### FC → USB CDC (50Hz JSON)
+### FC → USB Serial (CH343) (50Hz JSON)
 ```json
 {"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0,"bt":0}
 // Raw IMU values (int16), t=temp×10, p=pressure, bt=baro temp
--- a/docs/FACE_LCD_ANIMATION.md
+++ b/docs/FACE_LCD_ANIMATION.md
@ -1,6 +1,6 @@
 # Face LCD Animation System (Issue #507)

-Implements expressive face animations on an STM32 LCD display with 5 core emotions and smooth transitions.
+Implements expressive face animations on an ESP32-S3 LCD display with 5 core emotions and smooth transitions.

 ## Features

@ -82,7 +82,7 @@ STATUS      → Echo current emotion + idle state
 - Colors: Monochrome (1-bit) or RGB565

 ### Microcontroller
- STM32F7xx (Mamba F722S)
+- ESP32-S3xx (ESP32-S3 BALANCE)
 - Available UART: USART3 (PB10=TX, PB11=RX)
 - Clock: 216 MHz

--- a/docs/PLATFORM.md
+++ b/docs/PLATFORM.md
@ -81,7 +81,7 @@
   │                     │
   │  [RealSense D435i]  │   ← Front-facing, angled down ~10°
   │                     │     Height: ~400mm from ground
-   │  [Jetson Nano]      │   ← Center, in ventilated enclosure
+   │  [Jetson Orin Nano Super]      │   ← Center, in ventilated enclosure
   │  [WiFi/4G module]   │     Noctua fan draws air through
   │                     │
   │  [Speaker]  [LEDs]  │   ← Rear: audio feedback + status
@ -173,7 +173,7 @@ PACK1 ═╤═ PACK2 (parallel, XT60)
        │     │
        │     └── UART TX/RX ──→ Jetson GPIO
        │
-        ├──→ DC-DC 36V→5V ──→ Jetson Nano (barrel jack 5V/4A)
+        ├──→ DC-DC 36V→5V ──→ Jetson Orin Nano Super (barrel jack 5V/4A)
        │                  ──→ USB hub (sensors)
        │
        ├──→ DC-DC 36V→12V ──→ LED strips
--- a/docs/SALTYLAB-DETAILED.md
+++ b/docs/SALTYLAB-DETAILED.md
@ -33,7 +33,7 @@ Self-balancing two-wheeled indoor robot with AI brain.

 | Component | Voltage | Current | Power (W) | Notes |
 |-----------|---------|---------|-----------|-------|
-| Jetson Nano | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
+| Jetson Orin Nano Super | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
 | RealSense D435i | 5V (USB) | 0.7A | 3.5W | Depth + RGB streaming |
 | RPLIDAR A1M8 | 5V | 0.5A | 2.5W | Spinning at 5.5Hz |
 | BNO055 IMU | 3.3V | 0.01A | 0.04W | Negligible |
@ -80,7 +80,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 | Battery pack (1x) | 2500 | Estimated, weigh to verify |
 | 2x 8" hub motors | 2400 | ~1200g each with tire |
 | ESC board | 150 | Single board |
-| Jetson Nano + heatsink | 280 | With Noctua fan |
+| Jetson Orin Nano Super + heatsink | 280 | With Noctua fan |
 | RealSense D435i | 72 | Very light |
 | RPLIDAR A1M8 | 170 | With motor |
 | BNO055 breakout | 5 | Tiny |
@ -233,7 +233,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
      0mm  — Base plate
     30mm  — Battery shelf (holds pack on its side)
    150mm  — ESC + DC-DC shelf  
-    250mm  — Jetson Nano shelf
+    250mm  — Jetson Orin Nano Super shelf
    300mm  — BNO055 (attached to spine directly)
    370mm  — RealSense bracket (front-facing arm)
    420mm  — LIDAR standoff begins
@ -325,7 +325,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 - [ ] Assemble spine onto base plate
 - [ ] Mount battery to lowest shelf (velcro straps)
 - [ ] Mount ESC + DC-DC converters
- [ ] Mount Jetson Nano on shelf, connect 5V power
+- [ ] Mount Jetson Orin Nano Super on shelf, connect 5V power
 - [ ] Wire Jetson UART → ESC UART
 - [ ] Install JetPack 4.6 on Jetson (if not already)
 - [ ] Write serial bridge: Jetson Python → ESC UART commands
--- a/docs/SALTYLAB.md
+++ b/docs/SALTYLAB.md
@ -32,8 +32,8 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 |------|--------|
 | 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
 | 1x hoverboard ESC (FOC firmware) | ✅ Have |
-| 1x Drone FC (STM32F745 + MPU-6000) | ✅ Have — balance brain |
-| 1x Jetson Nano + Noctua fan | ✅ Have |
+| 1x Drone FC (ESP32-S3 + QMI8658) | ✅ Have — balance brain |
+| 1x Jetson Orin Nano Super + Noctua fan | ✅ Have |
 | 1x RealSense D435i | ✅ Have |
 | 1x RPLIDAR A1M8 | ✅ Have |
 | 1x battery pack (36V) | ✅ Have |
@ -49,20 +49,19 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 | 1x BetaFPV ELRS 2.4GHz 1W TX module | ✅ Have — RC control + kill switch |
 | 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |

-### Drone FC Details — GEPRC GEP-F7 AIO
- **MCU:** STM32F722RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
- **IMU:** TDK ICM-42688-P (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
- **Flash:** 8MB Winbond W25Q64 (blackbox, unused)
- **OSD:** AT7456E (unused)
- **4-in-1 ESC:** Built into AIO board (unused — we use hoverboard ESC)
- **DFU mode:** Hold yellow BOOT button while plugging USB
- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL)
- **UART pads (confirmed from silkscreen):**
-  - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson
-  - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC
-  - T3/R3 (bottom) → USART3 (PB10/PB11) → ELRS receiver
-  - T4/R4 (bottom) → UART4 → spare
-  - T5/R5 (right bottom) → UART5 → spare
+### ESP32-S3 BALANCE Board Details — Waveshare ESP32-S3 Touch LCD 1.28
+- **MCU:** ESP32-S3RET6 (Xtensa LX7 dual-core, 240MHz, 8MB Flash, 512KB SRAM)
+- **IMU:** QMI8658 (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
+- **Display:** 1.28" round LCD (GC9A01 driver, 240x240)
+- **DFU mode:** Hold BOOT button while plugging USB
+- **Firmware:** Custom balance firmware (ESP-IDF / Arduino-ESP32)
+- **USB:** USB Serial via CH343 chip
+- **UART assignments:**
+  - UART0 → USB Serial (CH343) → debug/flash
+  - UART1 → Jetson Orin Nano Super
+  - UART2 → Hoverboard ESC
+  - UART3 → ELRS receiver
+  - UART4/5 → spare

 ## Architecture

@ -74,7 +73,7 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
                    │ RealSense    │ ← Forward-facing depth+RGB
                    │ D435i        │
                    ├──────────────┤
-                    │ Jetson Nano  │ ← AI brain: navigation, person tracking
+                    │ Jetson Orin Nano Super  │ ← AI brain: navigation, person tracking
                    │              │   Sends velocity commands via UART
                    ├──────────────┤
                    │ Drone FC     │ ← Balance brain: IMU + PID @ 8kHz
@ -92,145 +91,19 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
           └─────┘                   └─────┘
 ```

-## Self-Balancing Control — Custom Firmware on Drone FC
+## Self-Balancing Control — ESP32-S3 BALANCE Board

-### Why a Drone FC?
-The F745 board is just a premium STM32 dev board with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
+> For full system architecture, firmware details, and protocol specs, see
+> **docs/SAUL-TEE-SYSTEM-REFERENCE.md**

-### Architecture
-```
-Jetson (speed+steer via UART1)
-    │
-    ▼
-Drone FC (F745 + MPU-6000)
-    │  - Reads IMU @ 8kHz (SPI)
-    │  - Runs PID balance loop
-    │  - Mixes balance correction + Jetson commands
-    │  - Outputs speed+steer via UART2
-    ▼
-Hoverboard ESC (FOC firmware)
-    │  - Receives UART commands
-    │  - Drives hub motors
-    ▼
-Left + Right wheels
-```
+The balance controller runs on the Waveshare ESP32-S3 Touch LCD 1.28 board
+(ESP32-S3 BALANCE). It reads the onboard QMI8658 IMU at 8kHz, runs a PID
+balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
+sends velocity commands over UART1. ELRS receiver on UART3 provides RC
+override and kill-switch capability.

- **No motor outputs used** — FC talks UART directly to hoverboard ESC
- **Custom firmware only** — no third-party flight software
- **Dead motor output irrelevant** — not using any PWM channels
-
-### Wiring
-
-```
-Jetson UART1        Drone FC (UART1)
-────────────        ────────────────
-TX (Pin 8)   ──→   RX
-RX (Pin 10)  ──→   TX
-GND          ──→   GND
-
-Drone FC (UART2)    Hoverboard ESC
-────────────────    ──────────────
-TX           ──→   RX (serial input)
-GND          ──→   GND
-5V (BEC)     ←──   ESC 5V out (powers FC)
-
-ELRS Receiver       Drone FC (UART3)
-─────────────       ────────────────
-TX           ──→   RX
-RX           ←──   TX (for telemetry/binding)
-GND          ──→   GND
-5V           ←──   5V
-```
-
-### Custom Firmware (STM32 C)
-
-```c
-// Core balance loop — runs in timer interrupt @ 1-8kHz
-void balance_loop(void) {
-    // 1. Read pitch angle from MPU-6000 (complementary filter)
-    float pitch = get_pitch_angle();  // SPI read + filter
-    
-    // 2. Get velocity command from Jetson (updated async via UART1 RX)
-    float target_speed = jetson_cmd.speed;   // -1000 to 1000
-    float target_steer = jetson_cmd.steer;   // -1000 to 1000
-    
-    // 3. PID on pitch error
-    //    Target angle shifts with speed command (lean forward = go forward)
-    float target_angle = target_speed * SPEED_TO_ANGLE_FACTOR;
-    float error = target_angle - pitch;
-    
-    integral += error * dt;
-    integral = clamp(integral, -MAX_I, MAX_I);  // anti-windup
-    float derivative = (error - prev_error) / dt;
-    prev_error = error;
-    
-    float output = Kp * error + Ki * integral + Kd * derivative;
-    
-    // 4. Mix balance + steering → hoverboard ESC UART command
-    int16_t left  = clamp(output + target_steer, -1000, 1000);
-    int16_t right = clamp(output - target_steer, -1000, 1000);
-    
-    // 5. Send to hoverboard ESC via UART2
-    send_hoverboard_cmd(left, right);
-    
-    // 6. Safety: kill motors if tipped beyond recovery
-    if (fabs(pitch) > MAX_TILT_DEG) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 7. Safety: RC kill switch (ELRS channel, checked every loop)
-    if (rc_channels.arm_switch == DISARMED) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 8. Safety: kill if Jetson UART heartbeat lost
-    if (millis() - jetson_last_rx > JETSON_TIMEOUT_MS) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 8. Safety: clamp output to max allowed speed
-    left  = clamp(left,  -max_speed_limit, max_speed_limit);
-    right = clamp(right, -max_speed_limit, max_speed_limit);
-}
-```
-
-### Hoverboard ESC UART Protocol
-```c
-typedef struct {
-    uint16_t start;    // 0xABCD
-    int16_t  speed;    // -1000 to 1000 (left)
-    int16_t  steer;    // -1000 to 1000 (right)
-    uint16_t checksum; // XOR of all bytes
-} HoverboardCmd;
-// 115200 baud, send at loop rate
-```
-
-### Jetson → FC Protocol (simple custom)
-```c
-typedef struct {
-    uint8_t  header;   // 0xAA
-    int16_t  speed;    // -1000 to 1000
-    int16_t  steer;    // -1000 to 1000
-    uint8_t  mode;     // 0=idle, 1=balance, 2=follow, 3=RC
-    uint8_t  checksum;
-} JetsonCmd;
-// 115200 baud, ~50Hz from Jetson is plenty
-```
-
-### PID Tuning
-| Param | Starting Value | Notes |
-|-------|---------------|-------|
-| Kp | 30-50 | Main balance response |
-| Ki | 0.5-2 | Drift correction |
-| Kd | 0.5-2 | Damping oscillation |
-| Loop rate | 1-8 kHz | Start at 1kHz, increase if needed |
-| Max tilt | ±25° | Beyond this = cut motors, require re-arm |
-| JETSON_TIMEOUT_MS | 200 | Kill motors if Jetson stops talking |
-| max_speed_limit | 100 | Start at 10% (100/1000), increase gradually |
-| SPEED_TO_ANGLE_FACTOR | 0.01-0.05 | How much lean per speed unit |
+The legacy STM32 firmware (STM32 era) has been archived to
+`legacy/stm32/` and is no longer built or deployed.

 ## LED Subsystem (ESP32-C3)

@ -280,8 +153,8 @@ GND             ──→ Common ground
 ```

 ### Dev Tools
- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD
- **IDE:** PlatformIO + STM32 HAL, or STM32CubeIDE
+- **Flashing:** ESP32-S3CubeProgrammer via USB (DFU mode) or SWD
+- **IDE:** PlatformIO + ESP-IDF, or ESP32-S3CubeIDE
 - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug)

 ## Physical Design
@ -348,7 +221,7 @@ GND             ──→ Common ground

 ## Software Stack

-### Jetson Nano
+### Jetson Orin Nano Super
 - **OS:** JetPack 4.6.1 (Ubuntu 18.04)
 - **ROS2 Humble** (or Foxy) for:
  - `nav2` — navigation stack
@ -375,8 +248,8 @@ GND             ──→ Common ground
 - [ ] Install hardware kill switch inline with 36V battery (NC — press to kill)
 - [ ] Set up ceiling tether point above test area (rated for >15kg)
 - [ ] Clear test area: 3m radius, no loose items, shoes on
- [ ] Set up PlatformIO project for STM32F745 (STM32 HAL)
- [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter)
+- [ ] Set up PlatformIO project for ESP32-S3 (ESP-IDF)
+- [ ] Write QMI8658 SPI driver (read gyro+accel, complementary filter)
 - [ ] Write PID balance loop with ALL safety checks:
  - ±25° tilt cutoff → disarm, require manual re-arm
  - Watchdog timer (50ms hardware WDT)
--- a/docs/board-viz.html
+++ b/docs/board-viz.html
@ -113,7 +113,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
 </head>
 <body>
 <h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
-<p class="subtitle">STM32F722RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
+<p class="subtitle">ESP32-S3RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>

 <div class="container">
  <div class="board-wrap">
@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
      <div class="mount br"></div>

      <!-- MCU -->
-      <div class="mcu"><div class="dot"></div>STM32<br>F722RET6<br>216MHz</div>
+      <div class="mcu"><div class="dot"></div>ESP32-S3<br>F722RET6<br>216MHz</div>

      <!-- IMU -->
      <div class="imu">ICM<br>42688</div>
@ -206,7 +206,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
    <h2>🔌 UART Assignments</h2>
    <div class="legend-item">
      <div class="swatch" style="background:#2196F3"></div>
-      <span><b>USART1</b> T1/R1 → Jetson Nano</span>
+      <span><b>USART1</b> T1/R1 → Jetson Orin Nano Super</span>
    </div>
    <div class="legend-item">
      <div class="swatch" style="background:#FF9800"></div>
--- a/docs/wiring-diagram.md
+++ b/docs/wiring-diagram.md
@ -7,7 +7,7 @@
 │                        ORIN NANO SUPER                              │
 │                     (Top Plate — 25W)                               │
 │                                                                     │
-│  USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud)            │
+│  USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud)            │
 │  USB-A1 ─── RealSense D435i (USB 3.1)                             │
 │  USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200)             │
 │  USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP)     │
@ -25,7 +25,7 @@
         │ 921600 baud                    │ 921600 baud, 3.3V
         ▼                                ▼
 ┌─────────────────────────────────────────────────────────────────────┐
-│                     MAMBA F722S (FC)                                 │
+│                     ESP32-S3 BALANCE (FC)                                 │
 │                  (Middle Plate — foam mounted)                       │
 │                                                                     │
 │  USB-C ──── Orin (CDC serial, primary link)                        │
@ -66,13 +66,13 @@

 ## Wire-by-Wire Connections

-### 1. Orin ↔ FC (Primary: USB CDC)
+### 1. Orin ↔ FC (Primary: USB Serial (CH343))

 | From | To | Wire Color | Notes |
 |------|----|-----------|-------|
 | Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus |

- Device: `/dev/ttyACM0` → symlink `/dev/stm32-bridge`
+- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
 - Baud: 921600, 8N1
 - Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)

@ -139,7 +139,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
 | 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |


-## FC UART Summary (MAMBA F722S)
+## FC UART Summary (ESP32-S3 BALANCE)

 | UART | Pins | Baud | Assignment | Notes |
 |------|------|------|------------|-------|
@ -149,7 +149,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
 | UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
 | UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
 | USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
-| USB CDC | USB-C | 921600 | Jetson primary | `/dev/stm32-bridge` |
+| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |


 ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
@ -209,7 +209,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)

 | Device | Interface | Power Draw |
 |--------|-----------|------------|
-| STM32 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
+| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
 | RealSense D435i | USB-A | ~1.5W (3.5W peak) |
 | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
 | SIM7600A | USB | ~1W idle, 3W TX peak |
@ -234,14 +234,14 @@ Orin Nano Super delivers up to 25W — USB peripherals are well within budget.
                    └──────┬───────┘
                           │ UART4
              ┌────────────▼────────────┐
-              │      MAMBA F722S        │
+              │      ESP32-S3 BALANCE        │
              │                         │
              │  MPU6000 → Balance PID  │
              │  CRSF → Mode Manager   │
              │  Safety Monitor         │
              │                         │
              └──┬──────────┬───────────┘
-    USART2 ─────┘          └───── USB CDC / USART6
+    USART2 ─────┘          └───── USB Serial (CH343) / USART6
    26400 baud                    921600 baud
         │                              │
         ▼                              ▼
--- a/jetson/Dockerfile
+++ b/jetson/Dockerfile
@ -2,7 +2,7 @@
 # Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04
 #
 # Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere)
-# Previous: Jetson Nano 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
+# Previous: Jetson Orin Nano Super 4GB (JetPack 4.6 / L4T R32.6.1) — see git history

 FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0

--- a/jetson/README.md
+++ b/jetson/README.md
@ -1,12 +1,12 @@
-# Jetson Nano — AI/SLAM Platform Setup
+# Jetson Orin Nano Super — AI/SLAM Platform Setup

-Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
+Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.

 ## Stack

 | Component | Version / Part |
 |-----------|---------------|
-| Platform | Jetson Nano 4GB |
+| Platform | Jetson Orin Nano Super 4GB |
 | JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
 | ROS2 | Humble Hawksbill |
 | DDS | CycloneDDS |
@ -14,7 +14,7 @@ Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
 | Nav | Nav2 |
 | Depth camera | Intel RealSense D435i |
 | LiDAR | RPLIDAR A1M8 |
-| MCU bridge | STM32F722 (USB CDC @ 921600) |
+| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |

 ## Quick Start

@ -42,7 +42,7 @@ bash scripts/build-and-run.sh shell
 ```
 jetson/
 ├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
-├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
+├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
 ├── README.md               # This file
 ├── docs/
 │   ├── pinout.md           # GPIO/I2C/UART pinout reference
--- a/jetson/config/RECOVERY_BEHAVIORS.md
+++ b/jetson/config/RECOVERY_BEHAVIORS.md
@ -34,7 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path

 The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.

-Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the STM32 firmware.
+Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.

 ## Behavior Tree Sequence

--- a/jetson/config/nav2_params.yaml
+++ b/jetson/config/nav2_params.yaml
@ -12,7 +12,7 @@
 #   /scan                    — RPLIDAR A1M8  (obstacle layer)
 #   /camera/depth/color/points — RealSense D435i (voxel layer)
 #
-# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
+# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.

 bt_navigator:
  ros__parameters:
--- a/jetson/docker-compose.yml
+++ b/jetson/docker-compose.yml
@ -31,7 +31,7 @@ services:
      - ./config:/config:ro
    devices:
      - /dev/rplidar:/dev/rplidar
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
      - /dev/bus/usb:/dev/bus/usb
      - /dev/i2c-7:/dev/i2c-7
      - /dev/video0:/dev/video0
@ -97,13 +97,13 @@ services:
          rgb_camera.profile:=640x480x30
      "

-  # ── STM32 bridge node (bidirectional serial<->ROS2) ────────────────────────
-  stm32-bridge:
+  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────
+  esp32-bridge:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
-    container_name: saltybot-stm32-bridge
+    container_name: saltybot-esp32-bridge
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
@ -111,13 +111,13 @@ services:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bridge bridge.launch.py
          mode:=bidirectional
-          serial_port:=/dev/stm32-bridge
+          serial_port:=/dev/esp32-bridge
      "

  # ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
@ -192,7 +192,7 @@ services:
    network_mode: host
    depends_on:
      - saltybot-ros2
-      - stm32-bridge
+      - esp32-bridge
      - csi-cameras
    environment:
      - ROS_DOMAIN_ID=42
@ -208,8 +208,8 @@ services:
      "


-  # -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
-  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to STM32.
+  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
+  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
  # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
  remote-estop:
    image: saltybot/ros2-humble:jetson-orin
@ -221,12 +221,12 @@ services:
    runtime: nvidia
    network_mode: host
    depends_on:
-      - stm32-bridge
+      - esp32-bridge
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
@ -316,7 +316,7 @@ services:
    runtime: nvidia
    network_mode: host
    depends_on:
-      - stm32-bridge
+      - esp32-bridge
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all,audio
--- a/jetson/docs/pinout.md
+++ b/jetson/docs/pinout.md
@ -1,5 +1,5 @@
 # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
-## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
+## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219

 Last updated: 2026-02-28
 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
@ -43,21 +43,21 @@ i2cdetect -l

 ---

-## 1. STM32F722 Bridge (USB CDC — Primary)
+## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary)

-The STM32 acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
+The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**.

-### USB CDC Connection
+### USB Serial (CH343) Connection
 | Connection | Detail |
 |-----------|--------|
-| Interface | USB Micro-B on STM32 dev board → USB-A on Jetson |
-| Device node | `/dev/ttyACM0` → symlink `/dev/stm32-bridge` (via udev) |
-| Baud rate | 921600 (configured in STM32 firmware) |
+| Interface | USB Micro-B on ESP32-S3 dev board → USB-A on Jetson |
+| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
+| Baud rate | 921600 (configured in ESP32-S3 firmware) |
 | Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
 | Power | Powered via robot 5V bus (data-only via USB) |

 ### Hardware UART (Fallback — 40-pin header)
-| Jetson Pin | Signal | STM32 Pin | Notes |
+| Jetson Pin | Signal | ESP32-S3 Pin | Notes |
 |-----------|--------|-----------|-------|
 | Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
 | Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
@ -65,7 +65,7 @@ The STM32 acts as a real-time motor + IMU controller. Communication is via **USB

 **Jetson device node:** `/dev/ttyTHS0`
 **Baud rate:** 921600, 8N1
-**Voltage level:** 3.3V — both Jetson Orin and STM32F722 are 3.3V GPIO
+**Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO

 ```bash
 # Verify UART
@ -75,13 +75,13 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```

-**ROS2 topics (STM32 bridge node):**
+**ROS2 topics (ESP32-S3 bridge node):**
 | ROS2 Topic | Direction | Content |
 |-----------|-----------|---------
-| `/saltybot/imu` | STM32→Jetson | IMU data (accel, gyro) at 50Hz |
-| `/saltybot/balance_state` | STM32→Jetson | Motor cmd, pitch, state |
-| `/cmd_vel` | Jetson→STM32 | Velocity commands → `C<spd>,<str>\n` |
-| `/saltybot/estop` | Jetson→STM32 | Emergency stop |
+| `/saltybot/imu` | ESP32-S3→Jetson | IMU data (accel, gyro) at 50Hz |
+| `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state |
+| `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C<spd>,<str>\n` |
+| `/saltybot/estop` | Jetson→ESP32-S3 | Emergency stop |

 ---

@ -266,7 +266,7 @@ sudo mkdir -p /mnt/nvme
 |------|------|----------|
 | USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i |
 | USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) |
-| USB-C | USB 3.1 Gen 1 (+ DP) | STM32 CDC or host flash |
+| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash |
 | Micro-USB | Debug/flash | JetPack flash only |

 ---
@ -277,10 +277,10 @@ sudo mkdir -p /mnt/nvme
 |-------------|----------|---------|----------|
 | 3 | SDA1 | 3.3V | I2C data (i2c-7) |
 | 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
-| 8 | TXD0 | 3.3V | UART TX → STM32 (fallback) |
-| 10 | RXD0 | 3.3V | UART RX ← STM32 (fallback) |
+| 8 | TXD0 | 3.3V | UART TX → ESP32-S3 (fallback) |
+| 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) |
 | USB-A ×2 | — | 5V | D435i, RPLIDAR |
-| USB-C | — | 5V | STM32 CDC |
+| USB-C | — | 5V | ESP32-S3 CDC |
 | CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
 | CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right |
 | M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD |
@ -298,9 +298,9 @@ Apply stable device names:
 KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
  SYMLINK+="rplidar", MODE="0666"

-# STM32 USB CDC (STMicroelectronics)
+# ESP32-S3 USB Serial (CH343) (STMicroelectronics)
 KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
-  SYMLINK+="stm32-bridge", MODE="0666"
+  SYMLINK+="esp32-bridge", MODE="0666"

 # Intel RealSense D435i
 SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \
--- a/jetson/docs/power-budget.md
+++ b/jetson/docs/power-budget.md
@ -56,7 +56,7 @@ sudo jtop
 |-----------|----------|------------|----------|-----------|-------|
 | 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 | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
+| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V |
 | 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
 | **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | |

@ -72,7 +72,7 @@ sudo jtop

 ## Budget Analysis vs Previous Platform

-| Metric | Jetson Nano | Jetson Orin Nano Super |
+| Metric | Jetson Orin Nano Super | Jetson Orin Nano Super |
 |--------|------------|------------------------|
 | TDP | 10W | 25W |
 | CPU | 4× Cortex-A57 @ 1.43GHz | 6× A78AE @ 1.5GHz |
@ -151,7 +151,7 @@ LiPo 4S (16.8V max)
       ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
       │   (e.g., XL4016E1)
       │
-       ├─► DC-DC Buck → 5V 3A ──► STM32 + logic 5V rail
+       ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail
       │
       └─► Hoverboard ESC ──► Hub motors (48V loop)
 ```
--- a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml
@ -2,7 +2,7 @@
 # Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional)

 # ── Serial ─────────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
+# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
 serial_port:      /dev/ttyACM0
 baud_rate:        921600
 timeout:          0.05   # serial readline timeout (seconds)
@ -11,7 +11,7 @@ reconnect_delay:  2.0    # seconds between reconnect attempts on serial disconne
 # ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────

 # Heartbeat: H\n sent every heartbeat_period seconds.
-# STM32 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
+# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
 heartbeat_period: 0.2    # seconds (= 200ms)

 # Twist → ESC command scaling
--- a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml
@ -1,5 +1,5 @@
 # cmd_vel_bridge_params.yaml
-# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 autonomous drive.
+# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.
 #
 # Run with:
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
@ -7,14 +7,14 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=0.3

 # ── Serial ─────────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
+# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
 serial_port:      /dev/ttyACM0
 baud_rate:        921600
 timeout:          0.05       # serial readline timeout (s)
 reconnect_delay:  2.0        # seconds between reconnect attempts

 # ── Heartbeat ──────────────────────────────────────────────────────────────────
-# STM32 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
+# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
 # Keep heartbeat well below that threshold.
 heartbeat_period: 0.2        # seconds (200ms)

@ -50,5 +50,5 @@ ramp_rate:        500        # ESC units/second
 # ── Deadman switch ─────────────────────────────────────────────────────────────
 # If /cmd_vel is not received for this many seconds, target speed/steer are
 # zeroed immediately. The ramp then drives the robot to a stop.
-# 500ms matches the STM32 jetson heartbeat timeout for consistency.
+# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.
 cmd_vel_timeout:  0.5        # seconds
--- a/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml
@ -1,18 +1,18 @@
-# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (Issue #119)
-# Binary-framed Jetson↔STM32 bridge at 921600 baud.
+# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
+# Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.

 # ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if the udev rule is applied:
+# Use /dev/esp32-bridge if the udev rule is applied:
 #   SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
-#   SYMLINK+="stm32-bridge", MODE="0660", GROUP="dialout"
+#   SYMLINK+="esp32-bridge", MODE="0660", GROUP="dialout"
 serial_port:      /dev/ttyACM0
 baud_rate:        921600
 reconnect_delay:  2.0        # seconds between USB reconnect attempts

 # ── Heartbeat ─────────────────────────────────────────────────────────────────
 # HEARTBEAT frame sent every heartbeat_period seconds.
-# STM32 fires watchdog and reverts to safe state if no frame received for 500ms.
-heartbeat_period: 0.2        # 200ms → well within 500ms STM32 watchdog
+# ESP32-S3 fires watchdog and reverts to safe state if no frame received for 500ms.
+heartbeat_period: 0.2        # 200ms → well within 500ms ESP32-S3 watchdog

 # ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
 # If no /cmd_vel message received for watchdog_timeout seconds,
--- a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml
@ -1,6 +1,6 @@
 remote_estop_node:
  ros__parameters:
-    serial_port:               /dev/stm32-bridge
+    serial_port:               /dev/esp32-bridge
    baud_rate:                 921600
    mqtt_host:                 "mqtt.example.com"
    mqtt_port:                 1883
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
@ -6,7 +6,7 @@ Two deployment modes:
  1. Full bidirectional (recommended for Nav2):
       ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
     Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
-     and TX /cmd_vel → STM32 commands + heartbeat.
+     and TX /cmd_vel → ESP32-S3 commands + heartbeat.

  2. RX-only (telemetry monitor, no drive commands):
       ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
@ -65,7 +65,7 @@ def generate_launch_description():
        DeclareLaunchArgument("mode",         default_value="bidirectional",
                              description="bidirectional | rx_only"),
        DeclareLaunchArgument("serial_port",  default_value="/dev/ttyACM0",
-                              description="STM32 USB CDC device node"),
+                              description="ESP32-S3 USB CDC device node"),
        DeclareLaunchArgument("baud_rate",    default_value="921600"),
        DeclareLaunchArgument("speed_scale",  default_value="1000.0",
                              description="m/s → ESC units (linear.x scale)"),
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py
@ -1,10 +1,10 @@
 """
-cmd_vel_bridge.launch.py — Nav2 cmd_vel → STM32 autonomous drive bridge.
+cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge.

 Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides:
  - /cmd_vel subscription with velocity limits + smooth ramp
  - Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout)
-  - Mode gate (drives only when STM32 is in AUTONOMOUS mode, md=2)
+  - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2)
  - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
  - /saltybot/cmd publisher (observability)

@ -72,12 +72,12 @@ def generate_launch_description():
            description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
        DeclareLaunchArgument(
            "serial_port",     default_value="/dev/ttyACM0",
-            description="STM32 USB CDC device node"),
+            description="ESP32-S3 USB CDC device node"),
        DeclareLaunchArgument(
            "baud_rate",       default_value="921600"),
        DeclareLaunchArgument(
            "heartbeat_period",default_value="0.2",
-            description="Heartbeat interval (s); must be < STM32 HB timeout (0.5s)"),
+            description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"),
        DeclareLaunchArgument(
            "max_linear_vel",  default_value="0.5",
            description="Hard speed cap before scaling (m/s)"),
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
@ -1,14 +1,14 @@
-"""stm32_cmd.launch.py — Launch the binary-framed STM32 command node (Issue #119).
+"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).

 Usage:
  # Default (binary protocol, bidirectional):
-  ros2 launch saltybot_bridge stm32_cmd.launch.py
+  ros2 launch saltybot_bridge esp32_cmd.launch.py

  # Override serial port:
-  ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM1
+  ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1

  # Custom velocity scales:
-  ros2 launch saltybot_bridge stm32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
+  ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
 """

 import os
@ -21,7 +21,7 @@ from launch_ros.actions import Node

 def generate_launch_description() -> LaunchDescription:
    pkg = get_package_share_directory("saltybot_bridge")
-    params_file = os.path.join(pkg, "config", "stm32_cmd_params.yaml")
+    params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml")

    return LaunchDescription([
        DeclareLaunchArgument("serial_port",      default_value="/dev/ttyACM0"),
@ -33,8 +33,8 @@ def generate_launch_description() -> LaunchDescription:

        Node(
            package="saltybot_bridge",
-            executable="stm32_cmd_node",
-            name="stm32_cmd_node",
+            executable="esp32_cmd_node",
+            name="esp32_cmd_node",
            output="screen",
            emulate_tty=True,
            parameters=[
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
@ -2,7 +2,7 @@
 uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)

 Launches serial_bridge_node configured for Jetson Orin UART port.
-Bridges Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 into ROS2.
+Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2.

 Published topics (same as USB CDC bridge):
  /saltybot/imu              sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
@ -20,7 +20,7 @@ Usage:

 Prerequisites:
  - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
-  - STM32 firmware transmitting JSON telemetry frames (50 Hz)
+  - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)
  - ROS2 environment sourced (source install/setup.bash)

 Note:
--- a/jetson/ros2_ws/src/saltybot_bridge/package.xml
+++ b/jetson/ros2_ws/src/saltybot_bridge/package.xml
@ -4,9 +4,9 @@
  <name>saltybot_bridge</name>
  <version>0.1.0</version>
  <description>
-    STM32F722 USB CDC serial bridge for saltybot.
+    ESP32-S3 USB CDC serial bridge for saltybot.
    serial_bridge_node: JSON telemetry RX → sensor_msgs/Imu + diagnostics.
-    stm32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
+    esp32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
      commands: HEARTBEAT, SPEED_STEER, ARM, SET_MODE, PID_UPDATE;
      telemetry: IMU, BATTERY, MOTOR_RPM, ARM_STATE, ERROR; watchdog 500ms.
    battery_node (Issue #125): SoC tracking, threshold alerts, SQLite history.
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
@ -1,6 +1,6 @@
 """battery_node.py — Battery management for saltybot (Issue #125).

-Subscribes to /saltybot/telemetry/battery (JSON from stm32_cmd_node) and:
+Subscribes to /saltybot/telemetry/battery (JSON from esp32_cmd_node) and:
  - Publishes sensor_msgs/BatteryState on /saltybot/battery
  - Publishes JSON alerts on /saltybot/battery/alert at threshold crossings
  - Reduces speed limit at low SoC via /saltybot/speed_limit (std_msgs/Float32)
@ -14,7 +14,7 @@ Alert levels (SoC thresholds):
   5%  EMERGENCY — publish zero /cmd_vel, disarm, log + alert

 SoC source priority:
-  1. soc_pct field from STM32 BATTERY telemetry (fuel gauge or lookup on STM32)
+  1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3)
  2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known

 Parameters (config/battery_params.yaml):
@ -320,7 +320,7 @@ class BatteryNode(Node):
        self._speed_limit_pub.publish(msg)

    def _execute_safe_stop(self) -> None:
-        """Send zero /cmd_vel and disarm the STM32."""
+        """Send zero /cmd_vel and disarm the ESP32-S3."""
        self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
        # Publish zero velocity
        zero_twist = Twist()
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py
@ -1,5 +1,5 @@
 """
-cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 drive command bridge.
+cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge.

 Extends the basic saltybot_cmd_node with four additions required for safe
 autonomous operation on a self-balancing robot:
@ -12,7 +12,7 @@ autonomous operation on a self-balancing robot:
  3. Deadman switch    — if /cmd_vel is silent for cmd_vel_timeout seconds,
                         zero targets immediately (Nav2 node crash / planner
                         stall → robot coasts to stop rather than running away).
-  4. Mode gate         — only issue non-zero drive commands when STM32 reports
+  4. Mode gate         — only issue non-zero drive commands when ESP32-S3 reports
                         md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
                         RC_ASSISTED) Jetson cannot override the RC pilot.
                         On mode re-entry current ramp state resets to 0 so
@ -20,9 +20,9 @@ autonomous operation on a self-balancing robot:

 Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
  C<spd>,<str>\\n  — drive command. speed/steer: -1000..+1000 integers.
-  H\\n             — heartbeat. STM32 reverts steer to 0 after 500ms silence.
+  H\\n             — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence.

-Telemetry (50 Hz from STM32):
+Telemetry (50 Hz from ESP32-S3):
  Same RX/publish pipeline as saltybot_cmd_node.
  The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.

@ -150,7 +150,7 @@ class CmdVelBridgeNode(Node):
        self._open_serial()

        # ── Timers ────────────────────────────────────────────────────────────
-        # Telemetry read at 100 Hz (STM32 sends at 50 Hz)
+        # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz)
        self._read_timer    = self.create_timer(0.01,             self._read_cb)
        # Control loop at 50 Hz: ramp + deadman + mode gate + send
        self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb)
@ -238,7 +238,7 @@ class CmdVelBridgeNode(Node):
            speed = self._current_speed
            steer = self._current_steer

-        # Send to STM32
+        # Send to ESP32-S3
        frame = f"C{speed},{steer}\n".encode("ascii")
        if not self._write(frame):
            self.get_logger().warn(
@ -256,7 +256,7 @@ class CmdVelBridgeNode(Node):
    # ── Heartbeat TX ──────────────────────────────────────────────────────────

    def _heartbeat_cb(self):
-        """H\\n keeps STM32 jetson_cmd heartbeat alive regardless of mode."""
+        """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""
        self._write(b"H\n")

    # ── Telemetry RX ──────────────────────────────────────────────────────────
@ -378,7 +378,7 @@ class CmdVelBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name        = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message     = f"{state_label} [{mode_label}]"
        status.level = (
            DiagnosticStatus.OK    if state == 1 else
@ -406,11 +406,11 @@ class CmdVelBridgeNode(Node):
        status = DiagnosticStatus()
        status.level       = DiagnosticStatus.ERROR
        status.name        = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message     = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")

    # ── Lifecycle ─────────────────────────────────────────────────────────────

--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
@ -1,18 +1,18 @@
-"""stm32_cmd_node.py — Full bidirectional binary-framed STM32↔Jetson bridge.
+"""esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge.

 Issue #119: replaces the ASCII-protocol saltybot_cmd_node with a robust binary
 framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud.

-TX commands (Jetson → STM32):
+TX commands (Jetson → ESP32-S3):
  SPEED_STEER  — 50 Hz from /cmd_vel subscription
-  HEARTBEAT    — 200 ms timer (STM32 watchdog fires at 500 ms)
+  HEARTBEAT    — 200 ms timer (ESP32-S3 watchdog fires at 500 ms)
  ARM          — via /saltybot/arm service
  SET_MODE     — via /saltybot/set_mode service
  PID_UPDATE   — via /saltybot/pid_update topic

 Watchdog: if /cmd_vel is silent for 500 ms, send SPEED_STEER(0,0) and log warning.

-RX telemetry (STM32 → Jetson):
+RX telemetry (ESP32-S3 → Jetson):
  IMU          → /saltybot/imu           (sensor_msgs/Imu)
  BATTERY      → /saltybot/telemetry/battery (std_msgs/String JSON)
  MOTOR_RPM    → /saltybot/telemetry/motor_rpm (std_msgs/String JSON)
@ -26,7 +26,7 @@ continuously retries at reconnect_delay interval.
 This node owns /dev/ttyACM0 exclusively — do NOT run alongside
 serial_bridge_node or saltybot_cmd_node on the same port.

-Parameters (config/stm32_cmd_params.yaml):
+Parameters (config/esp32_cmd_params.yaml):
  serial_port       /dev/ttyACM0
  baud_rate         921600
  reconnect_delay   2.0   (seconds)
@ -55,7 +55,7 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from std_srvs.srv import SetBool, Trigger

-from .stm32_protocol import (
+from .esp32_protocol import (
    FrameParser,
    ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame,
    encode_heartbeat, encode_speed_steer, encode_arm, encode_set_mode,
@ -75,10 +75,10 @@ def _clamp(v: float, lo: float, hi: float) -> float:
 # ── Node ──────────────────────────────────────────────────────────────────────

 class Stm32CmdNode(Node):
-    """Binary-framed Jetson↔STM32 bridge node."""
+    """Binary-framed Jetson↔ESP32-S3 bridge node."""

    def __init__(self) -> None:
-        super().__init__("stm32_cmd_node")
+        super().__init__("esp32_cmd_node")

        # ── Parameters ────────────────────────────────────────────────────────
        self.declare_parameter("serial_port",      "/dev/ttyACM0")
@ -158,7 +158,7 @@ class Stm32CmdNode(Node):
        self._diag_timer = self.create_timer(1.0, self._publish_diagnostics)

        self.get_logger().info(
-            f"stm32_cmd_node started — {port} @ {baud} baud | "
+            f"esp32_cmd_node started — {port} @ {baud} baud | "
            f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"
        )

@ -283,7 +283,7 @@ class Stm32CmdNode(Node):
        msg.angular_velocity.x = math.radians(frame.pitch_deg)
        msg.angular_velocity.y = math.radians(frame.roll_deg)
        msg.angular_velocity.z = math.radians(frame.yaw_deg)
-        cov = math.radians(0.3) ** 2    # ±0.3° noise estimate from STM32 BMI088
+        cov = math.radians(0.3) ** 2    # ±0.3° noise estimate from ESP32-S3 BMI088
        msg.angular_velocity_covariance[0] = cov
        msg.angular_velocity_covariance[4] = cov
        msg.angular_velocity_covariance[8] = cov
@ -340,7 +340,7 @@ class Stm32CmdNode(Node):

    def _publish_error(self, frame: ErrorFrame, stamp) -> None:
        self.get_logger().error(
-            f"STM32 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
+            f"ESP32-S3 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
        )
        payload = {
            "error_code": frame.error_code,
@ -431,8 +431,8 @@ class Stm32CmdNode(Node):
        diag.header.stamp = self.get_clock().now().to_msg()

        status = DiagnosticStatus()
-        status.name        = "saltybot/stm32_cmd_node"
-        status.hardware_id = "stm32f722"
+        status.name        = "saltybot/esp32_cmd_node"
+        status.hardware_id = "esp32s322"

        port_ok = self._ser is not None and self._ser.is_open
        if port_ok:
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py
@ -1,7 +1,7 @@
-"""stm32_protocol.py — Binary frame codec for Jetson↔STM32 communication.
+"""esp32_protocol.py — Binary frame codec for Jetson↔ESP32-S3 communication.

-Issue #119: defines the binary serial protocol between the Jetson Nano and the
-STM32F722 flight controller over USB CDC @ 921600 baud.
+Issue #119: defines the binary serial protocol between the Jetson Orin Nano Super and the
+ESP32-S3 ESP32-S3 BALANCE over USB CDC @ 921600 baud.

 Frame layout (all multi-byte fields are big-endian):
  ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐
@ -12,14 +12,14 @@ Frame layout (all multi-byte fields are big-endian):
 CRC16 covers: TYPE + LEN + PAYLOAD (not STX, ETX, or CRC bytes themselves).
 CRC algorithm: CCITT-16, polynomial=0x1021, init=0xFFFF, no final XOR.

-Command types (Jetson → STM32):
+Command types (Jetson → ESP32-S3):
  0x01  HEARTBEAT   — no payload              (len=0)
  0x02  SPEED_STEER — int16 speed + int16 steer (len=4)  range: -1000..+1000
  0x03  ARM         — uint8 (0=disarm, 1=arm)  (len=1)
  0x04  SET_MODE    — uint8 mode               (len=1)
  0x05  PID_UPDATE  — float32 kp + ki + kd     (len=12)

-Telemetry types (STM32 → Jetson):
+Telemetry types (ESP32-S3 → Jetson):
  0x10  IMU         — int16×6: pitch,roll,yaw (×100 deg), ax,ay,az (×100 m/s²) (len=12)
  0x11  BATTERY     — uint16 voltage_mv + int16 current_ma + uint8 soc_pct (len=5)
  0x12  MOTOR_RPM   — int16 left_rpm + int16 right_rpm     (len=4)
@ -27,11 +27,11 @@ Telemetry types (STM32 → Jetson):
  0x14  ERROR       — uint8 error_code + uint8 subcode      (len=2)

 Usage:
-  # Encoding (Jetson → STM32)
+  # Encoding (Jetson → ESP32-S3)
  frame = encode_speed_steer(300, -150)
  ser.write(frame)

-  # Decoding (STM32 → Jetson), one byte at a time
+  # Decoding (ESP32-S3 → Jetson), one byte at a time
  parser = FrameParser()
  for byte in incoming_bytes:
      result = parser.feed(byte)
@ -87,7 +87,7 @@ class ImuFrame:
 class BatteryFrame:
    voltage_mv:  int      # millivolts (e.g. 11100 = 11.1 V)
    current_ma:  int      # milliamps (negative = charging)
-    soc_pct:     int      # state of charge 0–100 (from STM32 fuel gauge or lookup)
+    soc_pct:     int      # state of charge 0–100 (from ESP32-S3 fuel gauge or lookup)


@dataclass
@ -183,7 +183,7 @@ class ParseError(Exception):


 class FrameParser:
-    """Byte-by-byte streaming parser for STM32 telemetry frames.
+    """Byte-by-byte streaming parser for ESP32-S3 telemetry frames.

    Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw
    bytes tuple) when a complete valid frame is received.
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py
@ -1,8 +1,8 @@
 """
-remote_estop_node.py -- Remote e-stop bridge: MQTT -> STM32 USB CDC
+remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC

-{"kill": true}  -> writes 'E\n' to STM32 (ESTOP_REMOTE, immediate motor cutoff)
-{"kill": false} -> writes 'Z\n' to STM32 (clear latch, robot can re-arm)
+{"kill": true}  -> writes 'E\n' to ESP32-S3 (ESTOP_REMOTE, immediate motor cutoff)
+{"kill": false} -> writes 'Z\n' to ESP32-S3 (clear latch, robot can re-arm)

 Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
 AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).
@ -26,7 +26,7 @@ class RemoteEstopNode(Node):
    def __init__(self):
        super().__init__('remote_estop_node')

-        self.declare_parameter('serial_port', '/dev/stm32-bridge')
+        self.declare_parameter('serial_port', '/dev/esp32-bridge')
        self.declare_parameter('baud_rate', 921600)
        self.declare_parameter('mqtt_host', 'mqtt.example.com')
        self.declare_parameter('mqtt_port', 1883)
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py
@ -322,7 +322,7 @@ class SaltybotCanNode(Node):
        diag.header.stamp = stamp
        st = DiagnosticStatus()
        st.name        = "saltybot/balance_controller"
-        st.hardware_id = "stm32f722"
+        st.hardware_id = "esp32s322"
        st.message     = state_label
        st.level       = (DiagnosticStatus.OK    if state == 1 else
                          DiagnosticStatus.WARN   if state == 0 else
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py
@ -1,20 +1,20 @@
 """
-saltybot_cmd_node — full bidirectional STM32↔Jetson bridge
+saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge
 Combines telemetry RX (from serial_bridge_node) with drive command TX.

 Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.

-RX path (50Hz from STM32):
+RX path (50Hz from ESP32-S3):
  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics

 TX path:
-  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → STM32
-  Heartbeat timer (200ms)        → H\\n                 → STM32
+  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32-S3
+  Heartbeat timer (200ms)        → H\\n                 → ESP32-S3

 Protocol:
-  H\\n              — heartbeat. STM32 reverts steer to 0 if gap > 500ms.
+  H\\n              — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.
  C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
-                      C command also refreshes STM32 heartbeat timer.
+                      C command also refreshes ESP32-S3 heartbeat timer.

 Twist mapping (configurable via ROS2 params):
  speed = clamp(linear.x  * speed_scale, -1000, 1000)
@ -100,7 +100,7 @@ class SaltybotCmdNode(Node):
        self._open_serial()

        # ── Timers ────────────────────────────────────────────────────────────
-        # Telemetry read at 100Hz (STM32 sends at 50Hz)
+        # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz)
        self._read_timer = self.create_timer(0.01, self._read_cb)
        # Heartbeat TX at configured period (default 200ms)
        self._hb_timer   = self.create_timer(self._hb_period, self._heartbeat_cb)
@ -266,7 +266,7 @@ class SaltybotCmdNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message = state_label
        if state == 1:
            status.level = DiagnosticStatus.OK
@ -294,11 +294,11 @@ class SaltybotCmdNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")

    # ── TX — command send ─────────────────────────────────────────────────────

@ -316,7 +316,7 @@ class SaltybotCmdNode(Node):
            )

    def _heartbeat_cb(self):
-        """Send H\\n heartbeat. STM32 reverts steer to 0 if gap > 500ms."""
+        """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms."""
        self._write(b"H\n")

    # ── Lifecycle ─────────────────────────────────────────────────────────────
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py
@ -1,6 +1,6 @@
 """
 saltybot_bridge — serial_bridge_node
-STM32F722 USB CDC → ROS2 topic publisher
+ESP32-S3 USB CDC → ROS2 topic publisher

 Telemetry frame (50 Hz, newline-delimited JSON):
  {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
@ -29,7 +29,7 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue

-# Balance state labels matching STM32 balance_state_t enum
+# Balance state labels matching ESP32-S3 balance_state_t enum
 _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}

 # Sensor frame_id published in Imu header
@ -83,7 +83,7 @@ class SerialBridgeNode(Node):

        # ── Open serial and start read timer ──────────────────────────────────
        self._open_serial()
-        # Poll at 100 Hz — STM32 sends at 50 Hz, so we never miss a frame
+        # Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame
        self._timer = self.create_timer(0.01, self._read_cb)

        self.get_logger().info(
@ -117,7 +117,7 @@ class SerialBridgeNode(Node):

    def write_serial(self, data: bytes) -> bool:
        """
-        Send raw bytes to STM32 over the open serial port.
+        Send raw bytes to ESP32-S3 over the open serial port.
        Returns False if port is not open (caller should handle gracefully).
        Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
        """
@ -206,7 +206,7 @@ class SerialBridgeNode(Node):
        """
        Publish sensor_msgs/Imu.

-        The STM32 IMU gives Euler angles (pitch/roll from accelerometer+gyro
+        The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro
        fusion, yaw from gyro integration). We publish them as angular_velocity
        for immediate use by slam_toolbox / robot_localization.

@ -264,7 +264,7 @@ class SerialBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message = state_label

        if state == 1:   # ARMED
@ -293,11 +293,11 @@ class SerialBridgeNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32s322"
        status.message = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 reported IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32-S3 reported IMU fault: errno={errno}")

    def destroy_node(self):
        self._close_serial()
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@ -13,7 +13,7 @@ setup(
            "launch/bridge.launch.py",
            "launch/cmd_vel_bridge.launch.py",
            "launch/remote_estop.launch.py",
-            "launch/stm32_cmd.launch.py",
+            "launch/esp32_cmd.launch.py",
            "launch/battery.launch.py",
            "launch/uart_bridge.launch.py",
        ]),
@ -21,7 +21,7 @@ setup(
            "config/bridge_params.yaml",
            "config/cmd_vel_bridge_params.yaml",
            "config/estop_params.yaml",
-            "config/stm32_cmd_params.yaml",
+            "config/esp32_cmd_params.yaml",
            "config/battery_params.yaml",
        ]),
    ],
@ -29,7 +29,7 @@ setup(
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
-    description="STM32 USB CDC → ROS2 serial bridge for saltybot",
+    description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
@ -41,8 +41,8 @@ setup(
            # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
            "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
            "remote_estop_node  = saltybot_bridge.remote_estop_node:main",
-            # Binary-framed STM32 command node (Issue #119)
-            "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
+            # Binary-framed ESP32-S3 command node (Issue #119)
+            "esp32_cmd_node    = saltybot_bridge.esp32_cmd_node:main",
            # Battery management node (Issue #125)
            "battery_node      = saltybot_bridge.battery_node:main",
            # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
@ -1,5 +1,5 @@
 """
-Unit tests for Jetson→STM32 command serialization logic.
+Unit tests for Jetson→ESP32-S3 command serialization logic.
 Tests Twist→speed/steer conversion and frame formatting.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
 """
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py
@ -1,4 +1,4 @@
-"""test_stm32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.
+"""test_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.

 Tests:
  - Serial open/close lifecycle
@ -12,7 +12,7 @@ Tests:
  - Zero-speed sent on node shutdown
  - CRC errors counted correctly

-Run with: pytest test/test_stm32_cmd_node.py -v
+Run with: pytest test/test_esp32_cmd_node.py -v
 No ROS2 runtime required — uses mock Node infrastructure.
 """

@ -29,7 +29,7 @@ import pytest

 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))

-from saltybot_bridge.stm32_protocol import (
+from saltybot_bridge.esp32_protocol import (
    STX, ETX, CmdType, TelType,
    encode_speed_steer, encode_heartbeat, encode_arm, encode_pid_update,
    _build_frame, _crc16_ccitt,
@ -219,10 +219,10 @@ class TestMockSerialTX:
 class TestMockSerialRX:
    """Test RX parsing path using MockSerial with pre-loaded telemetry data."""

-    from saltybot_bridge.stm32_protocol import FrameParser
+    from saltybot_bridge.esp32_protocol import FrameParser

    def test_rx_imu_frame(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, ImuFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, ImuFrame
        raw = _imu_frame_bytes(pitch=500, roll=-200, yaw=100, ax=0, ay=0, az=981)
        ms  = MockSerial(rx_data=raw)
        parser = FrameParser()
@ -241,7 +241,7 @@ class TestMockSerialRX:
        assert f.accel_z   == pytest.approx(9.81)

    def test_rx_battery_frame(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, BatteryFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, BatteryFrame
        raw = _battery_frame_bytes(v_mv=10500, i_ma=1200, soc=45)
        ms  = MockSerial(rx_data=raw)
        parser = FrameParser()
@ -257,7 +257,7 @@ class TestMockSerialRX:
        assert f.soc_pct    == 45

    def test_rx_multiple_frames_in_one_read(self):
-        from saltybot_bridge.stm32_protocol import FrameParser
+        from saltybot_bridge.esp32_protocol import FrameParser
        raw = (_imu_frame_bytes() + _arm_state_frame_bytes() + _battery_frame_bytes())
        ms  = MockSerial(rx_data=raw)
        parser = FrameParser()
@ -271,7 +271,7 @@ class TestMockSerialRX:
        assert parser.frames_error == 0

    def test_rx_bad_crc_counted_as_error(self):
-        from saltybot_bridge.stm32_protocol import FrameParser
+        from saltybot_bridge.esp32_protocol import FrameParser
        raw = bytearray(_arm_state_frame_bytes(state=1))
        raw[-3] ^= 0xFF    # corrupt CRC
        ms = MockSerial(rx_data=bytes(raw))
@ -282,7 +282,7 @@ class TestMockSerialRX:
        assert parser.frames_error == 1

    def test_rx_resync_after_corrupt_byte(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, ArmStateFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, ArmStateFrame
        garbage = b"\xDE\xAD\x00\x00"
        valid   = _arm_state_frame_bytes(state=1)
        ms = MockSerial(rx_data=garbage + valid)
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py
@ -1,4 +1,4 @@
-"""test_stm32_protocol.py — Unit tests for binary STM32 frame codec.
+"""test_esp32_protocol.py — Unit tests for binary ESP32-S3 frame codec.

 Tests:
  - CRC16-CCITT correctness
@ -12,7 +12,7 @@ Tests:
  - Speed/steer clamping in encode_speed_steer
  - Round-trip encode → decode for all known telemetry types

-Run with: pytest test/test_stm32_protocol.py -v
+Run with: pytest test/test_esp32_protocol.py -v
 """

 from __future__ import annotations
@ -25,7 +25,7 @@ import os
 # ── Path setup (no ROS2 install needed) ──────────────────────────────────────
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))

-from saltybot_bridge.stm32_protocol import (
+from saltybot_bridge.esp32_protocol import (
    STX, ETX,
    CmdType, TelType,
    ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame,
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
@ -1,5 +1,5 @@
 """
-Unit tests for STM32 telemetry parsing logic.
+Unit tests for ESP32-S3 telemetry parsing logic.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
 """

--- a/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg
+++ b/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg
@ -1,4 +1,4 @@
-# WheelTicks.msg — cumulative wheel encoder tick counts from STM32 (Issue #184)
+# WheelTicks.msg — cumulative wheel encoder tick counts from ESP32-S3 (Issue #184)
 #
 # left_ticks  : cumulative left  encoder count (int32, wraps at ±2^31)
 # right_ticks : cumulative right encoder count (int32, wraps at ±2^31)
--- a/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml
+++ b/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml
@ -3,7 +3,7 @@
 <package format="3">
  <name>saltybot_bridge_msgs</name>
  <version>0.1.0</version>
-  <description>STM32 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
+  <description>ESP32-S3 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
  <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
  <license>MIT</license>

--- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
@ -19,7 +19,7 @@
 #   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
 #   DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
 #
-# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
+# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.

 bt_navigator:
  ros__parameters:
--- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
@ -2,12 +2,12 @@
 # Master configuration for full stack bringup

 # ────────────────────────────────────────────────────────────────────────────
-# HARDWARE — STM32 Bridge & Motor Control
+# HARDWARE — ESP32-S3 Bridge & Motor Control
 # ────────────────────────────────────────────────────────────────────────────

 saltybot_bridge_node:
  ros__parameters:
-    serial_port: "/dev/stm32-bridge"
+    serial_port: "/dev/esp32-bridge"
    baud_rate: 921600
    timeout: 0.05
    reconnect_delay: 2.0
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
@ -39,7 +39,7 @@ Modes
    ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
    ─ YOLOv8n person detection (TensorRT)
    ─ Person follower with UWB+camera fusion
-    ─ cmd_vel bridge → STM32 (deadman + ramp + AUTONOMOUS gate)
+    ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
    ─ rosbridge WebSocket (port 9090)

  outdoor
@ -57,8 +57,8 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
   t= 0s  robot_description   (URDF + TF tree)
-   t= 0s  STM32 bridge        (serial port owner — must be first)
-   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs STM32 bridge up)
+   t= 0s  ESP32-S3 bridge        (serial port owner — must be first)
+   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32-S3 bridge up)
   t= 2s  sensors             (RPLIDAR + RealSense)
   t= 4s  UWB driver          (independent serial device)
   t= 4s  CSI cameras         (optional, independent)
@ -71,10 +71,10 @@ Launch sequence (wall-clock delays — conservative for cold start)

 Safety wiring
 ─────────────
-  • STM32 bridge must be up before cmd_vel bridge sends any command.
+  • ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
-  • STM32 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
-    until STM32 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+  • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
+    until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
  • follow_enabled:=false disables person follower without stopping the node.
  • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'

@ -91,7 +91,7 @@ Topics published by this stack
  /person/target                   PoseStamped    (camera position, base_link)
  /person/detections               Detection2DArray
  /cmd_vel                         Twist          (from follower or Nav2)
-  /saltybot/cmd                    String         (to STM32)
+  /saltybot/cmd                    String         (to ESP32-S3)
  /saltybot/imu                    Imu
  /saltybot/balance_state          String
 """
@ -209,7 +209,7 @@ def generate_launch_description():
    enable_bridge_arg = DeclareLaunchArgument(
        "enable_bridge",
        default_value="true",
-        description="Launch STM32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+        description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
    )

    enable_rosbridge_arg = DeclareLaunchArgument(
@ -267,10 +267,10 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        description="UWB anchor-1 serial port (starboard/right side)",
    )

-    stm32_port_arg = DeclareLaunchArgument(
-        "stm32_port",
-        default_value="/dev/stm32-bridge",
-        description="STM32 USB CDC serial port",
+    esp32_port_arg = DeclareLaunchArgument(
+        "esp32_port",
+        default_value="/dev/esp32-bridge",
+        description="ESP32-S3 USB CDC serial port",
    )

    # ── Shared substitution handles ───────────────────────────────────────────
@ -282,7 +282,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
    max_linear_vel  = LaunchConfiguration("max_linear_vel")
    uwb_port_a      = LaunchConfiguration("uwb_port_a")
    uwb_port_b      = LaunchConfiguration("uwb_port_b")
-    stm32_port      = LaunchConfiguration("stm32_port")
+    esp32_port      = LaunchConfiguration("esp32_port")

    # ── t=0s  Robot description (URDF + TF tree) ──────────────────────────────
    robot_description = IncludeLaunchDescription(
@ -290,15 +290,15 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )

-    # ── t=0s  STM32 bidirectional serial bridge ────────────────────────────────
-    stm32_bridge = GroupAction(
+    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
+    esp32_bridge = GroupAction(
        condition=IfCondition(LaunchConfiguration("enable_bridge")),
        actions=[
            IncludeLaunchDescription(
                _launch("saltybot_bridge", "launch", "bridge.launch.py"),
                launch_arguments={
                    "mode":        "bidirectional",
-                    "serial_port": stm32_port,
+                    "serial_port": esp32_port,
                }.items(),
            ),
        ],
@ -320,7 +320,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        ],
    )

-    # ── t=2s  cmd_vel safety bridge (depends on STM32 bridge) ────────────────
+    # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
    cmd_vel_bridge = TimerAction(
        period=2.0,
        actions=[
@ -577,14 +577,14 @@ enable_mission_logging_arg,
        max_linear_vel_arg,
        uwb_port_a_arg,
        uwb_port_b_arg,
-        stm32_port_arg,
+        esp32_port_arg,

        # Startup banner
        banner,

        # t=0s
        robot_description,
-        stm32_bridge,
+        esp32_bridge,

        # t=0.5s
        mission_logging,
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py
@ -1,7 +1,7 @@
 """
 realsense.launch.py — Intel RealSense D435i driver (standalone)

-Launches realsense2_camera_node with Jetson Nano power-budget settings:
+Launches realsense2_camera_node with Jetson Orin Nano Super power-budget settings:
  - 640×480 @ 15fps (depth + RGB) — saves ~0.4W vs 30fps
  - IMU enabled with linear interpolation (unified /camera/imu topic)
  - Depth aligned to color frame
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
@ -15,11 +15,11 @@ Usage
  ros2 launch saltybot_bringup saltybot_bringup.launch.py
  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=minimal
  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=debug
-  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full stm32_port:=/dev/ttyUSB0
+  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full esp32_port:=/dev/ttyUSB0

 Startup sequence
 ────────────────
-  GROUP A — Drivers      t= 0 s  STM32 bridge, RealSense+RPLIDAR, motor daemon, IMU
+  GROUP A — Drivers      t= 0 s  ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU
  health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
  GROUP B — Perception   t= 8 s  UWB, person detection, object detection, depth costmap, gimbal
  health gate ───────────────────────────────────────────────── t=16 s (full/debug)
@ -35,7 +35,7 @@ Shutdown

 Hardware conditionals
 ─────────────────────
-  Missing devices (stm32_port, uwb_port_a/b, gimbal_port) skip that driver.
+  Missing devices (esp32_port, uwb_port_a/b, gimbal_port) skip that driver.
  All conditionals are evaluated at launch time via PathJoinSubstitution + IfCondition.
 """

@ -120,10 +120,10 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        description="Use /clock from rosbag/simulator",
    )

-    stm32_port_arg = DeclareLaunchArgument(
-        "stm32_port",
-        default_value="/dev/stm32-bridge",
-        description="STM32 USART bridge serial device",
+    esp32_port_arg = DeclareLaunchArgument(
+        "esp32_port",
+        default_value="/dev/esp32-bridge",
+        description="ESP32-S3 USART bridge serial device",
    )

    uwb_port_a_arg = DeclareLaunchArgument(
@ -160,7 +160,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901

    profile         = LaunchConfiguration("profile")
    use_sim_time    = LaunchConfiguration("use_sim_time")
-    stm32_port      = LaunchConfiguration("stm32_port")
+    esp32_port      = LaunchConfiguration("esp32_port")
    uwb_port_a      = LaunchConfiguration("uwb_port_a")
    uwb_port_b      = LaunchConfiguration("uwb_port_b")
    gimbal_port     = LaunchConfiguration("gimbal_port")
@ -198,7 +198,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901

    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
    # GROUP A — DRIVERS   (t = 0 s, all profiles)
-    # Dependency order: STM32 bridge first, then sensors, then motor daemon.
+    # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.
    # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━

@ -212,12 +212,12 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )

-    # STM32 bidirectional bridge (JLINK USART1)
-    stm32_bridge = IncludeLaunchDescription(
+    # ESP32-S3 bidirectional bridge (JLINK USART1)
+    esp32_bridge = IncludeLaunchDescription(
        _launch("saltybot_bridge", "launch", "bridge.launch.py"),
        launch_arguments={
            "mode":        "bidirectional",
-            "serial_port": stm32_port,
+            "serial_port": esp32_port,
        }.items(),
    )

@ -232,7 +232,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        ],
    )

-    # Motor daemon: /cmd_vel → STM32 DRIVE frames (depends on bridge at t=0)
+    # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)
    motor_daemon = TimerAction(
        period=2.5,
        actions=[
@ -541,7 +541,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        # ── Arguments ──────────────────────────────────────────────────────────
        profile_arg,
        use_sim_time_arg,
-        stm32_port_arg,
+        esp32_port_arg,
        uwb_port_a_arg,
        uwb_port_b_arg,
        gimbal_port_arg,
@ -559,7 +559,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901

        # ── GROUP A: Drivers (all profiles, t=0–4s) ───────────────────────────
        robot_description,
-        stm32_bridge,
+        esp32_bridge,
        sensors,
        motor_daemon,
        sensor_health,
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
@ -20,7 +20,7 @@ theta is kept in (−π, π] after every step.

 Int32 rollover
 --------------
-STM32 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
+ESP32-S3 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
 this by detecting jumps larger than half the int32 range and adjusting by the
 full range:

--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
@ -29,7 +29,7 @@ class Profile:
    name: str

    # ── Group A: Drivers (always on in all profiles) ──────────────────────
-    enable_stm32_bridge: bool = True
+    enable_esp32_bridge: bool = True
    enable_sensors:      bool = True   # RealSense + RPLIDAR
    enable_motor_daemon: bool = True
    enable_imu:          bool = True
@ -69,14 +69,14 @@ class Profile:
    t_ui:         float = 22.0  # Group D (nav2 needs ~4 s to load costmaps)

    # ── Safety ────────────────────────────────────────────────────────────
-    watchdog_timeout_s:  float = 5.0   # max silence from STM32 bridge (s)
+    watchdog_timeout_s:  float = 5.0   # max silence from ESP32-S3 bridge (s)
    cmd_vel_deadman_s:   float = 0.5   # cmd_vel watchdog in bridge
    max_linear_vel:      float = 0.5   # m/s cap passed to bridge + follower
    follow_distance_m:   float = 1.5   # target follow distance (m)

    # ── Hardware conditionals ─────────────────────────────────────────────
    #  Paths checked at launch; absent devices skip the relevant node.
-    stm32_port:  str = "/dev/stm32-bridge"
+    esp32_port:  str = "/dev/esp32-bridge"
    uwb_port_a:  str = "/dev/uwb-anchor0"
    uwb_port_b:  str = "/dev/uwb-anchor1"
    gimbal_port: str = "/dev/ttyTHS1"
@ -90,7 +90,7 @@ class Profile:
 # ── Profile factory ────────────────────────────────────────────────────────────

 def _minimal() -> Profile:
-    """Minimal: STM32 bridge + sensors + motor daemon.
+    """Minimal: ESP32-S3 bridge + sensors + motor daemon.

    Safe drive control only.  No AI, no nav, no social.
    Boot time ~4 s.  RAM ~400 MB.
@ -115,7 +115,7 @@ def _full() -> Profile:
    return Profile(
        name="full",
        # Drivers
-        enable_stm32_bridge=True,
+        enable_esp32_bridge=True,
        enable_sensors=True,
        enable_motor_daemon=True,
        enable_imu=True,
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py
@ -1,7 +1,7 @@
 """
 wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).

-Subscribes to raw encoder tick counts from the STM32 bridge, integrates
+Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates
 differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
 Optionally broadcasts the odom → base_link TF transform.

--- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
+++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
@ -61,7 +61,7 @@ kill %1

 ### Core System Components
 - Robot Description (URDF/TF tree)
- STM32 Serial Bridge
+- ESP32-S3 Serial Bridge
 - cmd_vel Bridge  
 - Rosbridge WebSocket

@ -125,11 +125,11 @@ free -h

 ### cmd_vel bridge not responding
 ```bash
-# Verify STM32 bridge is running first
+# Verify ESP32-S3 bridge is running first
 ros2 node list | grep bridge

 # Check serial port
-ls -l /dev/stm32-bridge
+ls -l /dev/esp32-bridge
 ```

 ## Performance Baseline
--- a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py
@ -74,7 +74,7 @@ class TestMinimalProfile:
        assert self.p.name == "minimal"

    def test_drivers_enabled(self):
-        assert self.p.enable_stm32_bridge is True
+        assert self.p.enable_esp32_bridge is True
        assert self.p.enable_sensors is True
        assert self.p.enable_motor_daemon is True
        assert self.p.enable_imu is True
@ -124,7 +124,7 @@ class TestFullProfile:
        assert self.p.name == "full"

    def test_drivers_enabled(self):
-        assert self.p.enable_stm32_bridge is True
+        assert self.p.enable_esp32_bridge is True
        assert self.p.enable_sensors is True
        assert self.p.enable_motor_daemon is True
        assert self.p.enable_imu is True
@ -312,9 +312,9 @@ class TestSafetyDefaults:
 # ─── Hardware port defaults ────────────────────────────────────────────────────

 class TestHardwarePortDefaults:
-    def test_stm32_port_set(self):
+    def test_esp32_port_set(self):
        p = _minimal()
-        assert p.stm32_port.startswith("/dev/")
+        assert p.esp32_port.startswith("/dev/")

    def test_uwb_ports_set(self):
        p = _full()
--- a/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro
+++ b/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro
@ -10,7 +10,7 @@
    - Sensors:
      * RPLIDAR A1M8 (360° scanning LiDAR)
      * RealSense D435i (RGB-D camera + IMU)
-      * BNO055 (9-DOF IMU, STM32 FC)
+      * BNO055 (9-DOF IMU, ESP32-S3 FC)
    - Actuators:
      * 2x differential drive motors
      * Pan/Tilt servos for camera
@ -120,7 +120,7 @@
    <child link="right_wheel_link" />
  </joint>

-  <!-- IMU Link (STM32 FC BNO055, mounted on main board) -->
+  <!-- IMU Link (ESP32-S3 FC BNO055, mounted on main board) -->
  <link name="imu_link">
    <inertial>
      <mass value="0.01" />
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/init.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/init.py
@ -1 +1 @@
-"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
@ -1,16 +1,16 @@
 #!/usr/bin/env python3
 """
-mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller
+balance_protocol.py — CAN message encoding/decoding for the ESP32-S3 BALANCE motor controller
 and VESC telemetry.

 CAN message layout
 ------------------
-Command frames  (Orin → Mamba / VESC):
+Command frames  (Orin → ESP32-S3 BALANCE / VESC):
  MAMBA_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
  MAMBA_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
  MAMBA_CMD_ESTOP     0x102  1 byte   0x01 = stop

-Telemetry frames (Mamba → Orin):
+Telemetry frames (ESP32-S3 BALANCE → Orin):
  MAMBA_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
  MAMBA_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)

@ -56,7 +56,7 @@ MODE_ESTOP: int = 2

@dataclass
 class ImuTelemetry:
-    """Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
+    """Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU)."""

    accel_x: float = 0.0  # m/s²
    accel_y: float = 0.0
@ -68,7 +68,7 @@ class ImuTelemetry:

@dataclass
 class BatteryTelemetry:
-    """Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
+    """Decoded battery telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY)."""

    voltage: float = 0.0   # V
    current: float = 0.0   # A
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE motor
 controller and VESC motor controllers over CAN bus.

 The node opens the SocketCAN interface (slcan0 by default), spawns a background
@ -9,12 +9,12 @@ reader thread to process incoming telemetry, and exposes the following interface
 Subscriptions
 -------------
  /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
-  /estop            std_msgs/Bool                → Mamba e-stop (CAN)
+  /estop            std_msgs/Bool                → ESP32-S3 BALANCE e-stop (CAN)

 Publications
 ------------
-  /can/imu                sensor_msgs/Imu              Mamba IMU telemetry
-  /can/battery            sensor_msgs/BatteryState     Mamba battery telemetry
+  /can/imu                sensor_msgs/Imu              ESP32-S3 BALANCE IMU telemetry
+  /can/battery            sensor_msgs/BatteryState     ESP32-S3 BALANCE battery telemetry
  /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
  /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
  /can/connection_status  std_msgs/String              "connected" | "disconnected"
@ -34,7 +34,7 @@ from rcl_interfaces.msg import SetParametersResult
 from sensor_msgs.msg import BatteryState, Imu
 from std_msgs.msg import Bool, Float32MultiArray, String

-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    MAMBA_CMD_ESTOP,
    MAMBA_CMD_MODE,
    MAMBA_CMD_VELOCITY,
@ -64,7 +64,7 @@ _WATCHDOG_HZ: float = 10.0


 class CanBridgeNode(Node):
-    """CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
+    """CAN bus bridge between Orin ROS2 and ESP32-S3 BALANCE / VESC controllers."""

    def __init__(self) -> None:
        super().__init__("can_bridge_node")
@ -214,18 +214,18 @@ class CanBridgeNode(Node):

        # Forward left = forward right for pure translation; for rotation
        # left slows and right speeds up (positive angular = CCW = left turn).
-        # The Mamba velocity command carries both wheels independently.
+        # The ESP32-S3 BALANCE velocity command carries both wheels independently.
        left_mps = linear - angular
        right_mps = linear + angular

        payload = encode_velocity_cmd(left_mps, right_mps)
        self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")

-        # Keep Mamba in DRIVE mode while receiving commands
+        # Keep ESP32-S3 BALANCE in DRIVE mode while receiving commands
        self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")

    def _estop_cb(self, msg: Bool) -> None:
-        """Forward /estop to Mamba over CAN."""
+        """Forward /estop to ESP32-S3 BALANCE over CAN."""
        if not self._connected:
            return
        payload = encode_estop_cmd(msg.data)
@ -234,7 +234,7 @@ class CanBridgeNode(Node):
            self._send_can(
                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
            )
-            self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
+            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")

    # ── Watchdog ──────────────────────────────────────────────────────────

--- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
@ -15,7 +15,7 @@ setup(
    zip_safe=True,
    maintainer="sl-controls",
    maintainer_email="sl-controls@saltylab.local",
-    description="CAN bus bridge for Mamba controller and VESC telemetry",
+    description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
--- a/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-Unit tests for saltybot_can_bridge.mamba_protocol.
+Unit tests for saltybot_can_bridge.balance_protocol.

 No ROS2 or CAN hardware required — tests exercise encode/decode round-trips
 and boundary conditions entirely in Python.
@ -11,7 +11,7 @@ Run with:  pytest test/test_can_bridge.py -v
 import struct
 import unittest

-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    MAMBA_CMD_ESTOP,
    MAMBA_CMD_MODE,
    MAMBA_CMD_VELOCITY,
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml
@ -17,7 +17,7 @@
  <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
  <license>MIT</license>

-  <!-- Runtime dependency on saltybot_can_bridge for mamba_protocol -->
+  <!-- Runtime dependency on saltybot_can_bridge for balance_protocol -->
  <exec_depend>saltybot_can_bridge</exec_depend>

  <buildtool_depend>ament_python</buildtool_depend>
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py
@ -1,28 +1,28 @@
 #!/usr/bin/env python3
 """
 protocol_defs.py — CAN message ID constants and frame builders/parsers for the
-Orin↔Mamba↔VESC integration test suite.
+Orin↔ESP32-S3 BALANCE↔VESC integration test suite.

 All IDs and payload formats are derived from:
-  include/orin_can.h   — Orin↔FC (Mamba) protocol
+  include/orin_can.h   — Orin↔FC (ESP32-S3 BALANCE) protocol
  include/vesc_can.h   — VESC CAN protocol
-  saltybot_can_bridge/mamba_protocol.py — existing bridge constants
+  saltybot_can_bridge/balance_protocol.py — existing bridge constants

 CAN IDs used in tests
 ---------------------
-Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h):
+Orin → FC (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
  ORIN_CMD_HEARTBEAT  0x300
  ORIN_CMD_DRIVE      0x301    int16 speed (−1000..+1000), int16 steer (−1000..+1000)
  ORIN_CMD_MODE       0x302    uint8 mode byte
  ORIN_CMD_ESTOP      0x303    uint8 action (1=ESTOP, 0=CLEAR)

-FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h):
+FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h):
  FC_STATUS           0x400    8 bytes (see orin_can_fc_status_t)
  FC_VESC             0x401    8 bytes (see orin_can_fc_vesc_t)
  FC_IMU              0x402    8 bytes
  FC_BARO             0x403    8 bytes

-Mamba ↔ VESC internal commands (matching mamba_protocol.py):
+ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
  MAMBA_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
  MAMBA_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
  MAMBA_CMD_ESTOP     0x102    1 byte   0x01=stop
@ -36,7 +36,7 @@ import struct
 from typing import Tuple

 # ---------------------------------------------------------------------------
-# Orin → FC (Mamba) command IDs  (from orin_can.h)
+# Orin → FC (ESP32-S3 BALANCE) command IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------

 ORIN_CMD_HEARTBEAT: int = 0x300
@ -45,7 +45,7 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303

 # ---------------------------------------------------------------------------
-# FC (Mamba) → Orin telemetry IDs  (from orin_can.h)
+# FC (ESP32-S3 BALANCE) → Orin telemetry IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------

 FC_STATUS: int = 0x400
@ -54,7 +54,7 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403

 # ---------------------------------------------------------------------------
-# Mamba → VESC internal command IDs  (from mamba_protocol.py)
+# ESP32-S3 BALANCE → VESC internal command IDs  (from balance_protocol.py)
 # ---------------------------------------------------------------------------

 MAMBA_CMD_VELOCITY: int = 0x100
@ -136,14 +136,14 @@ def build_estop_cmd(action: int = 1) -> bytes:


 # ---------------------------------------------------------------------------
-# Frame builders — Mamba velocity commands (mamba_protocol.py encoding)
+# Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
 # ---------------------------------------------------------------------------

 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
    """
    Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).

-    Matches encode_velocity_cmd() in mamba_protocol.py.
+    Matches encode_velocity_cmd() in balance_protocol.py.
    """
    return struct.pack(">ff", float(left_mps), float(right_mps))

--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py
@ -14,7 +14,7 @@ setup(
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
-    description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop",
+    description="End-to-end CAN integration tests for Orin↔ESP32-S3 BALANCE↔VESC full loop",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py
@ -14,7 +14,7 @@ _pkg_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 if _pkg_root not in sys.path:
    sys.path.insert(0, _pkg_root)

-# Also add the saltybot_can_bridge package so we can import mamba_protocol.
+# Also add the saltybot_can_bridge package so we can import balance_protocol.
 _bridge_pkg = os.path.join(
    os.path.dirname(_pkg_root), "saltybot_can_bridge"
 )
@ -60,7 +60,7 @@ def loopback_can_bus():
@pytest.fixture(scope="function")
 def bridge_components():
    """
-    Return the mamba_protocol encode/decode callables and a fresh mock bus.
+    Return the balance_protocol encode/decode callables and a fresh mock bus.

    Yields a dict with keys:
      bus         — MockCANBus instance
@ -69,7 +69,7 @@ def bridge_components():
      encode_estop — encode_estop_cmd(stop) → bytes
      decode_vesc  — decode_vesc_state(data) → VescStateTelemetry
    """
-    from saltybot_can_bridge.mamba_protocol import (
+    from saltybot_can_bridge.balance_protocol import (
        encode_velocity_cmd,
        encode_mode_cmd,
        encode_estop_cmd,
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py
@ -3,7 +3,7 @@
 test_drive_command.py — Integration tests for the drive command path.

 Tests verify:
-  DRIVE cmd → Mamba receives velocity command frame → mock VESC status response
+  DRIVE cmd → ESP32-S3 BALANCE receives velocity command frame → mock VESC status response
  → FC_VESC broadcast contains correct RPMs.

 All tests run without real hardware or a running ROS2 system.
@ -28,7 +28,7 @@ from saltybot_can_e2e_test.protocol_defs import (
    parse_velocity_cmd,
    parse_fc_vesc,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
    encode_mode_cmd,
 )
@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
 class TestDriveForward:
    def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
        """
-        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives
+        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32-S3 BALANCE receives
        a MAMBA_CMD_VELOCITY frame with correct payload.
        """
        _send_drive(mock_can_bus, 1.0, 1.0)
@ -84,7 +84,7 @@ class TestDriveForward:
    def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
        """
        Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
-        (In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.)
+        (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.)
        This test checks the FC_VESC frame format and parser.
        """
        # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py
@ -32,7 +32,7 @@ from saltybot_can_e2e_test.protocol_defs import (
    parse_velocity_cmd,
    parse_fc_status,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
    encode_mode_cmd,
    encode_estop_cmd,
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py
@ -30,7 +30,7 @@ from saltybot_can_e2e_test.protocol_defs import (
    parse_fc_vesc,
    parse_vesc_status,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    VESC_TELEM_STATE as BRIDGE_VESC_TELEM_STATE,
    decode_vesc_state,
 )
@ -47,7 +47,7 @@ class VescStatusAggregator:
      2. Builds an FC_VESC broadcast payload
      3. Injects the FC_VESC frame onto the mock bus

-    This represents the Mamba → Orin telemetry path.
+    This represents the ESP32-S3 BALANCE → Orin telemetry path.
    """

    def __init__(self, bus: MockCANBus):
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py
@ -33,7 +33,7 @@ from saltybot_can_e2e_test.protocol_defs import (
    build_velocity_cmd,
    parse_velocity_cmd,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
    encode_mode_cmd,
    encode_estop_cmd,
@ -90,7 +90,7 @@ class HeartbeatSimulator:
 def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
    """
    Simulate the firmware-side logic: when heartbeat timeout expires,
-    the FC sends an e-stop command by setting estop mode on the Mamba bus.
+    the FC sends an e-stop command by setting estop mode on the ESP32-S3 BALANCE bus.
    We model this as the bridge sending zero velocity + ESTOP mode.
    """

--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py
@ -27,7 +27,7 @@ from saltybot_can_e2e_test.protocol_defs import (
    build_velocity_cmd,
    parse_velocity_cmd,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
    encode_mode_cmd,
    encode_estop_cmd,
@ -189,7 +189,7 @@ class TestModeCommandEncoding:
        """build_mode_cmd in protocol_defs must produce identical bytes."""
        for mode in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
            assert build_mode_cmd(mode) == encode_mode_cmd(mode), \
-                f"protocol_defs.build_mode_cmd({mode}) != mamba_protocol.encode_mode_cmd({mode})"
+                f"protocol_defs.build_mode_cmd({mode}) != balance_protocol.encode_mode_cmd({mode})"


 class TestInvalidMode:
@ -218,8 +218,8 @@ class TestInvalidMode:
        accepted = sm.set_mode(-1)
        assert accepted is False

-    def test_mamba_protocol_invalid_mode_raises(self):
-        """mamba_protocol.encode_mode_cmd must raise on invalid mode."""
+    def test_balance_protocol_invalid_mode_raises(self):
+        """balance_protocol.encode_mode_cmd must raise on invalid mode."""
        with pytest.raises(ValueError):
            encode_mode_cmd(99)
        with pytest.raises(ValueError):
--- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
+++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
@ -27,7 +27,7 @@ robot:
  stem_od:     0.0381          # m  STEM_OD = 38.1mm
  stem_height: 1.050           # m  nominal cut length

-  # ── FC / IMU (MAMBA F722S) ──────────────────────────────────────────────────
+  # ── FC / IMU (ESP32-S3 BALANCE) ──────────────────────────────────────────────────
  # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
  # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
  imu_x:  0.050                # m  forward of base_link center
--- a/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
+++ b/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
@ -172,7 +172,7 @@
  <xacro:wheel name="wheel_right_link" side="-1"/>

  <!-- ═══════════════════════════════════════════════════════════════════
-       imu_link  — MPU-6000 on MAMBA F722S flight controller
+       imu_link  — MPU-6000 on ESP32-S3 BALANCE ESP32-S3 BALANCE
       fc_x = -50mm SCAD = +x ROS;  z = pad + standoff above deck = 12mm
       ═══════════════════════════════════════════════════════════════════ -->
  <link name="imu_link"/>
--- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md
@ -5,7 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
 ## Features

 ### Startup Checks
- RPLIDAR, RealSense, VESC, Jabra mic, STM32, servos
+- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos
 - WiFi, GPS, disk space, RAM
 - Boot result TTS + face animation
 - JSON logging
--- a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml
@ -6,7 +6,7 @@ startup_checks:
    - realsense
    - vesc
    - jabra_microphone
-    - stm32_bridge
+    - esp32_bridge
    - servos
    - wifi
    - gps
--- a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
@ -138,7 +138,7 @@ class DiagnosticsNode(Node):
            self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})

    def _check_stm32(self):
-        self.hardware_checks["stm32"] = ("OK", "STM32 bridge online", {})
+        self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})

    def _check_servos(self):
        try:
--- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
@ -7,7 +7,7 @@
 #   ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
 #
 # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
-# applies the ESC ramp, deadman switch, and STM32 AUTONOMOUS mode gate.
+# applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate.
 # Do not run this node without the cmd_vel bridge running on the same robot.

 # ── Follow geometry ────────────────────────────────────────────────────────────
@ -70,5 +70,5 @@ control_rate:     20.0        # Hz — lower than cmd_vel bridge (50Hz) by desig
 # ── Mode integration ──────────────────────────────────────────────────────────
 # Master enable for the follow controller. When false, node publishes zero cmd_vel.
 # Toggle at runtime: ros2 param set /person_follower follow_enabled false
-# The cmd_vel bridge independently gates on STM32 AUTONOMOUS mode (md=2).
+# The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2).
 follow_enabled:   true
--- a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py
+++ b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py
@ -28,7 +28,7 @@ State machine

 Safety wiring
 -------------
-  * cmd_vel bridge (PR #46) applies ramp + deadman + STM32 AUTONOMOUS mode gate --
+  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate --
    this node publishes raw /cmd_vel, the bridge handles hardware safety.
  * follow_enabled param (default True) lets the operator disable the controller
    at runtime: ros2 param set /person_follower follow_enabled false
--- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
@ -1,6 +1,6 @@
 gimbal_node:
  ros__parameters:
-    # Serial port connecting to STM32 over JLINK protocol
+    # Serial port connecting to ESP32-S3 over JLINK protocol
    serial_port: "/dev/ttyTHS1"
    baud_rate: 921600

--- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
@ -14,7 +14,7 @@ def generate_launch_description() -> LaunchDescription:
    serial_port_arg = DeclareLaunchArgument(
        "serial_port",
        default_value="/dev/ttyTHS1",
-        description="JLINK serial port to STM32",
+        description="JLINK serial port to ESP32-S3",
    )
    pan_limit_arg = DeclareLaunchArgument(
        "pan_limit_deg",
--- a/jetson/ros2_ws/src/saltybot_gimbal/package.xml
+++ b/jetson/ros2_ws/src/saltybot_gimbal/package.xml
@ -3,7 +3,7 @@
  <name>saltybot_gimbal</name>
  <version>1.0.0</version>
  <description>
-    ROS2 gimbal control node: pan/tilt camera head via JLINK serial to STM32.
+    ROS2 gimbal control node: pan/tilt camera head via JLINK serial to ESP32-S3.
    Smooth trapezoidal motion profiles, configurable limits, look_at 3D projection.
    Issue #548.
  </description>
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).

-Controls pan/tilt gimbal via JLINK binary protocol over serial to STM32.
+Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.
 Implements smooth trapezoidal motion profiles with configurable axis limits.

 Subscribed topics:
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
@ -1,19 +1,19 @@
 """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).

-Matches the JLINK protocol defined in include/jlink.h (Issue #547 STM32 side).
+Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32-S3 side).

-Command type (Jetson → STM32):
+Command type (Jetson → ESP32-S3):
  0x0B  GIMBAL_POS  — int16 pan_x10 + int16 tilt_x10 + uint16 speed   (6 bytes)
                       pan_x10  = pan_deg  * 10  (±1500 for ±150°)
                       tilt_x10 = tilt_deg * 10  (±450  for ±45°)
                       speed    = servo speed register 0–4095 (0 = max)

-Telemetry type (STM32 → Jetson):
+Telemetry type (ESP32-S3 → Jetson):
  0x84  GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
                        uint16 pan_speed_raw + uint16 tilt_speed_raw +
                        uint8 torque_en + uint8 rx_err_pct             (10 bytes)

-Frame format (shared with stm32_protocol.py):
+Frame format (shared with esp32_protocol.py):
  [STX=0x02][CMD][LEN][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03]
  CRC16-CCITT: poly=0x1021, init=0xFFFF, covers CMD+LEN+PAYLOAD bytes.
 """
@ -31,8 +31,8 @@ ETX = 0x03

 # ── Command / telemetry type codes ─────────────────────────────────────────────

-CMD_GIMBAL_POS   = 0x0B   # Jetson → STM32: set pan/tilt target
-TLM_GIMBAL_STATE = 0x84   # STM32 → Jetson: measured state
+CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32-S3: set pan/tilt target
+TLM_GIMBAL_STATE = 0x84   # ESP32-S3 → Jetson: measured state

 # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed.
 # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360))
--- a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml
@ -5,7 +5,7 @@
 #
 # Topic wiring:
 #   /rc/joy                          → mode_switch_node (CRSF channels)
-#   /saltybot/balance_state          → mode_switch_node (STM32 state)
+#   /saltybot/balance_state          → mode_switch_node (ESP32-S3 state)
 #   /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
 #   /saltybot/control_mode           ← mode_switch_node (JSON mode + alpha)
 #   /saltybot/led_pattern            ← mode_switch_node (LED name)
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py
@ -13,7 +13,7 @@ Topic graph

 In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge
 receives zeros — this is harmless because the bridge's mode gate already
-prevents autonomous commands when the STM32 is in RC_MANUAL.
+prevents autonomous commands when the ESP32-S3 is in RC_MANUAL.

 The bridge's existing ESC ramp handles hardware-level smoothing;
 the blend_alpha here provides the higher-level cmd_vel policy ramp.
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py
@ -6,9 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime.

 Mode vocabulary
 ---------------
-  "RC"            — STM32 executing RC pilot commands; Jetson cmd_vel blocked.
+  "RC"            — ESP32-S3 executing RC pilot commands; Jetson cmd_vel blocked.
  "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
-  "AUTO"          — STM32 executing Jetson cmd_vel; RC sticks idle.
+  "AUTO"          — ESP32-S3 executing Jetson cmd_vel; RC sticks idle.
  "RAMP_TO_RC"    — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.

 Blend alpha
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py
@ -9,7 +9,7 @@ Inputs
        axes[stick_axes...]   Roll/Pitch/Throttle/Yaw — override detection

  /saltybot/balance_state  (std_msgs/String JSON)
-      Parsed for RC link health (field "rc_link") and STM32 mode.
+      Parsed for RC link health (field "rc_link") and ESP32-S3 mode.

  <slam_fix_topic>         (geometry_msgs/PoseWithCovarianceStamped)
      Any message received within slam_fix_timeout_s → SLAM fix valid.
--- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
@ -1,8 +1,8 @@
 vesc_can_odometry:
  ros__parameters:
    # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
-    left_can_id:        56      # left  motor VESC CAN ID (Mamba F722S)
-    right_can_id:       68      # right motor VESC CAN ID (Mamba F722S)
+    left_can_id:        56      # left  motor VESC CAN ID (ESP32-S3 BALANCE)
+    right_can_id:       68      # right motor VESC CAN ID (ESP32-S3 BALANCE)

    # ── State topic names (must match VESC telemetry publisher) ──────────────
    left_state_topic:   /vesc/left/state
--- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
+++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
@ -12,7 +12,7 @@
 # Hardware:
 #   IMU:  RealSense D435i BMI055 → /imu/data
 #   GPS:  SIM7600X cellular     → /gps/fix  (±2.5 m CEP)
-#   Odom: STM32 wheel encoders  → /odom
+#   Odom: ESP32-S3 wheel encoders  → /odom
 #   RTK:  ZED-F9P (optional)    → /gps/fix  (±2 cm CEP when use_rtk: true)

 # ── Local EKF: fuses wheel odometry + IMU in odom frame ──────────────────────
--- a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py
+++ b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py
@ -70,8 +70,8 @@ class ParameterServer(Node):
        """Load parameter definitions from config file"""
        defs = {
            'hardware': {
-                'serial_port': ParamInfo('serial_port', '/dev/stm32-bridge', 'string',
-                                        'hardware', description='STM32 bridge serial port'),
+                'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
+                                        'hardware', description='ESP32-S3 bridge serial port'),
                'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
                                      min_val=9600, max_val=3000000,
                                      description='Serial baud rate'),
--- a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py
+++ b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py
@ -370,7 +370,7 @@ class PIDAutotuneNode(Node):
                ser.write(frame_set)
                time.sleep(0.05)   # allow FC to process PID_SET
                ser.write(frame_save)
-                # Flash erase takes ~1s on STM32F7; wait for it
+                # Flash erase takes ~1s on ESP32-S3; wait for it
                time.sleep(1.5)

            self.get_logger().info(
--- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
@ -9,7 +9,7 @@
 #
 # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
 # Heading:    D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
-# Odometry:   STM32 wheel encoders → /odom
+# Odometry:   ESP32-S3 wheel encoders → /odom
 # UWB:        /uwb/target (follow-me reference, logged for context)

 route_recorder:
--- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
+++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
@ -10,7 +10,7 @@ Depends on:
  saltybot-nav2 container (Nav2 action server /navigate_through_poses)
  saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
  saltybot_uwb (/uwb/target — PR #66, used for context during recording)
-  STM32 bridge (/odom from wheel encoders)
+  ESP32-S3 bridge (/odom from wheel encoders)
  D435i (/imu/data for heading)

 Usage — record a route:
--- a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py
+++ b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py
@ -5,7 +5,7 @@ Hardware
 ────────
  SaltyRover: 4-wheel ground robot with individual brushless ESCs.
  ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-  Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge.
+  Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.

  ESC channel assignments (configurable):
    CH1 = left-front
--- a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml
@ -39,6 +39,6 @@ safety_zone:
    # ── cmd_vel topics ───────────────────────────────────────────────────────
    # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
    # Typical chain:
-    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → STM32
+    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32-S3
    cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
-    cmd_vel_output_topic: /cmd_vel         # downstream (to STM32 bridge)
+    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32-S3 bridge)
--- a/Show More
+++ b/Show More