docs/SALTYLAB.md

@@ -32,15 +32,8 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 |------|--------|
 | 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
 | 1x hoverboard ESC (FOC firmware) | ✅ Have |
-<<<<<<< HEAD
-| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE |
-| 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max |
-| 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max |
-| 1x Jetson Orin + Noctua fan | ✅ Have |
-=======
 | 1x Drone FC (ESP32-S3 + QMI8658) | ✅ Have — balance brain |
 | 1x Jetson Orin Nano Super + Noctua fan | ✅ Have |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 1x RealSense D435i | ✅ Have |
 | 1x RPLIDAR A1M8 | ✅ Have |
 | 1x battery pack (36V) | ✅ Have |
@@ -56,22 +49,6 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 | 1x BetaFPV ELRS 2.4GHz 1W TX module | ✅ Have — RC control + kill switch |
 | 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |
 
-<<<<<<< HEAD
-### Drone FC Details — GEPRC GEP-F7 AIO
-- **MCU:** ESP32RET6 (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) — LEGACY, see ESP32 BALANCE
-- **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!
@@ -85,7 +62,6 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
   - UART2 → Hoverboard ESC
   - UART3 → ELRS receiver
   - UART4/5 → spare
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Architecture
 
@@ -117,13 +93,8 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 
 ## Self-Balancing Control — ESP32-S3 BALANCE Board
 
-<<<<<<< HEAD
-### Why a Drone FC?
-The F745 board was a premium STM32 dev board (legacy; now replaced by ESP32 BALANCE) 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**
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 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
@@ -131,125 +102,9 @@ 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.
 
-<<<<<<< HEAD
-- **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 (Legacy STM32 C — archived)
-
-```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 (Mamba F722S era) has been archived to
+=======
+The legacy STM32 firmware (STM32 era) has been archived to
 `legacy/stm32/` and is no longer built or deployed.
 >>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
@@ -301,13 +156,8 @@ GND             ──→ Common ground
 ```
 
 ### Dev Tools
-<<<<<<< HEAD
-- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy)
-- **IDE:** PlatformIO + ESP-IDF (new) or STM32 HAL/STM32CubeIDE (legacy)
-=======
 - **Flashing:** ESP32-S3CubeProgrammer via USB (DFU mode) or SWD
 - **IDE:** PlatformIO + ESP-IDF, or ESP32-S3CubeIDE
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug)
 
 ## Physical Design
@@ -401,13 +251,8 @@ 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
-<<<<<<< HEAD
-- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF)
-- [ ] 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)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - [ ] Write PID balance loop with ALL safety checks:
   - ±25° tilt cutoff → disarm, require manual re-arm
   - Watchdog timer (50ms hardware WDT)

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py

@@ -1 +1 @@
-"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py

@@ -1,16 +1,16 @@
 #!/usr/bin/env python3
 """
-balance_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

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py

@@ -1,24 +1,22 @@
 #!/usr/bin/env python3
 """
-can_bridge_node.py — ROS2 node bridging the Jetson Orin to the ESP32-S3 BALANCE
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE motor
-board and VESC motor controllers over CAN bus (CANable 2.0 / slcan0, 500 kbps).
+controller and VESC motor controllers over CAN bus.
 
 Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §6 (2026-04-04)
 
 Subscriptions
 -------------
-  /cmd_vel              geometry_msgs/Twist     → ORIN_CMD_DRIVE (0x300)
+  /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
-  /estop                std_msgs/Bool           → ORIN_CMD_ESTOP (0x303)
+  /estop            std_msgs/Bool                → ESP32-S3 BALANCE e-stop (CAN)
-  /saltybot/arm         std_msgs/Bool           → ORIN_CMD_ARM   (0x301)
 
 Publications
 ------------
-  /saltybot/attitude      std_msgs/String (JSON)   pitch, speed, yaw_rate, state
+  /can/imu                sensor_msgs/Imu              ESP32-S3 BALANCE IMU telemetry
-  /saltybot/balance_state std_msgs/String (JSON)   alias of /saltybot/attitude
+  /can/battery            sensor_msgs/BatteryState     ESP32-S3 BALANCE battery telemetry
-  /can/battery            sensor_msgs/BatteryState  vbat_mv, fault, rssi
+  /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
-  /can/vesc/left/state    std_msgs/Float32MultiArray  VESC STATUS_1 left
+  /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
-  /can/vesc/right/state   std_msgs/Float32MultiArray  VESC STATUS_1 right
+  /can/connection_status  std_msgs/String              "connected" | "disconnected"
-  /can/connection_status  std_msgs/String            "connected" | "disconnected"
 
 Parameters
 ----------
@@ -41,16 +39,6 @@ from sensor_msgs.msg import BatteryState
 from std_msgs.msg import Bool, Float32MultiArray, String
 
 from saltybot_can_bridge.balance_protocol import (
-<<<<<<< HEAD
-    ORIN_CMD_DRIVE,
-    ORIN_CMD_ARM,
-    ORIN_CMD_ESTOP,
-    ESP32_TELEM_ATTITUDE,
-    ESP32_TELEM_BATTERY,
-    VESC_LEFT_ID,
-    VESC_RIGHT_ID,
-    VESC_STATUS_1,
-=======
     MAMBA_CMD_ESTOP,
     MAMBA_CMD_MODE,
     MAMBA_CMD_VELOCITY,
@@ -59,7 +47,6 @@ from saltybot_can_bridge.balance_protocol import (
     VESC_TELEM_STATE,
     ORIN_CAN_ID_FC_PID_ACK,
     ORIN_CAN_ID_PID_SET,
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     MODE_DRIVE,
     MODE_IDLE,
     encode_drive_cmd,
@@ -78,7 +65,7 @@ _WATCHDOG_HZ: float = 10.0
 
 
 class CanBridgeNode(Node):
-    """CAN bus bridge between Orin ROS2 and ESP32 BALANCE / VESC controllers."""
+    """CAN bus bridge between Orin ROS2 and ESP32-S3 BALANCE / VESC controllers."""
 
     def __init__(self) -> None:
         super().__init__("can_bridge_node")
@@ -178,27 +165,34 @@ class CanBridgeNode(Node):
         self._last_cmd_time = time.monotonic()
         if not self._connected:
             return
-        speed = int(max(-1000.0, min(1000.0, msg.linear.x  * self._speed_scale)))
+
-        steer = int(max(-1000.0, min(1000.0, msg.angular.z * self._steer_scale)))
+        # Differential drive decomposition — individual wheel speeds in m/s.
-        self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(speed, steer, MODE_DRIVE), "cmd_vel")
+        # The VESC nodes interpret linear velocity directly; angular is handled
+        # by the sign difference between left and right.
+        linear = msg.linear.x
+        angular = msg.angular.z
+
+        # Forward left = forward right for pure translation; for rotation
+        # left slows and right speeds up (positive angular = CCW = left turn).
+        # 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 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 ESP32 BALANCE over CAN."""
+        """Forward /estop to ESP32-S3 BALANCE over CAN."""
         if not self._connected:
             return
         if msg.data:
-            self._send_can(ORIN_CMD_ESTOP, encode_estop_cmd(), "estop")
+            self._send_can(
-            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32 BALANCE")
+                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
-        else:
+            )
-            # Clear estop: send DISARM then re-ARM (let operator decide to re-arm)
+            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")
-            self._send_can(ORIN_CMD_ARM, encode_arm_cmd(False), "estop_clear")
-
-    def _arm_cb(self, msg: Bool) -> None:
-        """Forward /saltybot/arm to ORIN_CMD_ARM."""
-        if not self._connected:
-            return
-        self._send_can(ORIN_CMD_ARM, encode_arm_cmd(msg.data), "arm")
-        self.get_logger().info(f"ARM command: {'ARM' if msg.data else 'DISARM'}")
 
     # ── Watchdog ──────────────────────────────────────────────────────────
 

jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py

@@ -1,32 +1,31 @@
 #!/usr/bin/env python3
 """
 protocol_defs.py — CAN message ID constants and frame builders/parsers for the
-Orin↔ESP32 IO↔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 (ESP32 IO) protocol
+  include/orin_can.h   — Orin↔FC (ESP32-S3 BALANCE) protocol
   include/vesc_can.h   — VESC CAN protocol
   saltybot_can_bridge/balance_protocol.py — existing bridge constants
 
 CAN IDs used in tests
 ---------------------
-Orin → FC (ESP32 IO) 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 (ESP32 IO) → 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
 
-<<<<<<< HEAD
-ESP32 IO ↔ VESC internal commands (matching mamba_protocol.py):
-=======
 Mamba ↔ VESC internal commands (matching balance_protocol.py):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+=======
+ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
   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
@@ -40,7 +39,7 @@ import struct
 from typing import Tuple
 
 # ---------------------------------------------------------------------------
-# Orin → FC (ESP32 IO) command IDs  (from orin_can.h)
+# Orin → FC (ESP32-S3 BALANCE) command IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 ORIN_CMD_HEARTBEAT: int = 0x300
@@ -49,7 +48,7 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303
 
 # ---------------------------------------------------------------------------
-# FC (ESP32 IO) → Orin telemetry IDs  (from orin_can.h)
+# FC (ESP32-S3 BALANCE) → Orin telemetry IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 FC_STATUS: int = 0x400
@@ -58,11 +57,10 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403
 
 # ---------------------------------------------------------------------------
-<<<<<<< HEAD
-# ESP32 IO → VESC internal command IDs  (from mamba_protocol.py)
-=======
 # Mamba → VESC internal command IDs  (from balance_protocol.py)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+=======
+# ESP32-S3 BALANCE → VESC internal command IDs  (from balance_protocol.py)
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 MAMBA_CMD_VELOCITY: int = 0x100
@@ -144,11 +142,10 @@ def build_estop_cmd(action: int = 1) -> bytes:
 
 
 # ---------------------------------------------------------------------------
-<<<<<<< HEAD
-# Frame builders — ESP32 IO velocity commands (mamba_protocol.py encoding)
-=======
 # Frame builders — Mamba velocity commands (balance_protocol.py encoding)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+=======
+# Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:

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↔ESP32 IO↔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={

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 → ESP32 IO 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.
@@ -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 ESP32 IO 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 ESP32 IO 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)

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py

@@ -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 ESP32 IO → Orin telemetry path.
+    This represents the ESP32-S3 BALANCE → Orin telemetry path.
     """
 
     def __init__(self, bus: MockCANBus):

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py

@@ -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 ESP32 IO 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.
     """