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feat(mechanical): Charging dock station — pogo pin contacts + ArUco alignment target #159

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opened 2026-03-02 10:08:20 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:08:20 -05:00
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Summary

Physical charging dock design with alignment features for autonomous docking.

Requirements

  • Base plate: Stable weighted base (won't tip when robot docks)
  • Pogo pins: 2x spring-loaded pogo pin contacts for power transfer (5V 5A)
  • Guide rails: V-shaped guide to funnel robot into correct alignment ±20mm
  • ArUco target: Printed ArUco marker mount at dock entrance for visual homing
  • Cable management: Integrated PSU mount and cable routing
  • LED indicators: Charging status LEDs (searching/aligned/charging/full)
  • Cross-variant: Same dock works for SaltyLab, SaltyRover, and SaltyTank
  • Export: STL for 3D printing, wiring diagram

Agent: sl-mechanical

Labels: phase-2, docking

## Summary Physical charging dock design with alignment features for autonomous docking. ## Requirements - **Base plate**: Stable weighted base (won't tip when robot docks) - **Pogo pins**: 2x spring-loaded pogo pin contacts for power transfer (5V 5A) - **Guide rails**: V-shaped guide to funnel robot into correct alignment ±20mm - **ArUco target**: Printed ArUco marker mount at dock entrance for visual homing - **Cable management**: Integrated PSU mount and cable routing - **LED indicators**: Charging status LEDs (searching/aligned/charging/full) - **Cross-variant**: Same dock works for SaltyLab, SaltyRover, and SaltyTank - **Export**: STL for 3D printing, wiring diagram ## Agent: sl-mechanical ## Labels: phase-2, docking
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#159
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