84 changed files with 392 additions and 1414 deletions
--- a/AUTONOMOUS_ARMING.md
+++ b/AUTONOMOUS_ARMING.md
@ -7,12 +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)
-<<<<<<< HEAD
- Sent via USB CDC to the ESP32 BALANCE firmware
-=======
- Sent via USB Serial (CH343) to the ESP32-S3 firmware
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
+- 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

 ### RC Arming (Optional Override)
@ -46,12 +41,7 @@ The robot can now be armed and operated autonomously from the Jetson without req

 ## Command Protocol

-<<<<<<< HEAD
-### From Jetson to ESP32 BALANCE (USB CDC)
-=======
-### From Jetson to ESP32-S3 (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-```
+### From Jetson to ESP32-S3 (USB Serial (CH343))```
 A           — Request arm (triggers safety hold, then motors enable)
 D           — Request disarm (immediate motor stop)
 E           — Emergency stop (immediate motor cutoff, latched)
@ -60,12 +50,7 @@ H           — Heartbeat (refresh timeout timer, every 500ms)
 C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
 ```

-<<<<<<< HEAD
-### From ESP32 BALANCE to Jetson (USB CDC)
-=======
-### From ESP32-S3 to Jetson (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Motor commands are gated by `bal.state == BALANCE_ARMED`:
+### 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
@ -1,34 +1,13 @@
 # SaltyLab Firmware — Agent Playbook

 ## Project
-<<<<<<< HEAD
-**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
-Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
-
-| Board | Role |
-|-------|------|
-| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
-| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
-| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
-
-> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
-=======
 Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
-<<<<<<< HEAD
-| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
-| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
-=======
 | **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 Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ## Status
 USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).

--- a/TEAM.md
+++ b/TEAM.md
@ -1,54 +1,29 @@
 # SaltyLab — Ideal Team

 ## Project
-<<<<<<< HEAD
-**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
-Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
-
-## Current Status
- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
-=======
 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 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
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ---

 ## Roles Needed

 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
-<<<<<<< HEAD
- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
- SPI + UART + USB coexistence on ESP32
- PlatformIO or bare-metal ESP32 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
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 **Nice-to-have:**
 - ESP32-S3 peripheral coexistence (SPI + UART + USB)
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)

-<<<<<<< HEAD
-**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
-=======
 **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.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
 - PID tuning for inverted pendulum / self-balancing systems
@ -83,12 +58,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
-<<<<<<< HEAD
-| FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
-=======
-| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| Motors | 2x 8" pneumatic hoverboard hub motors |
+| 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 |
--- a/chassis/ASSEMBLY.md
+++ b/chassis/ASSEMBLY.md
@ -56,16 +56,7 @@
 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
 4. Insert battery pack; route Velcro straps through slots and cinch.

-<<<<<<< HEAD
-### 7  MCU mount (ESP32 BALANCE + ESP32 IO)
-
-> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it.
-> Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
-
-=======
-### 7  FC mount (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
+### 7  FC mount (ESP32-S3 BALANCE)1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
 2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
 3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
 4. Orient USB connectors toward front of robot for cable access.
--- a/chassis/BOM.md
+++ b/chassis/BOM.md
@ -41,12 +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 |
-<<<<<<< HEAD
-| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
-=======
-| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
+| 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

@ -97,19 +92,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th

 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
-<<<<<<< HEAD
-| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
-| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
-| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
-| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
-| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
-=======
 | 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 Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
+| 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/ip54_BOM.md
+++ b/chassis/ip54_BOM.md
@ -104,12 +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 |
-<<<<<<< HEAD
-| FC (ESP32 BALANCE) | 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 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
+| 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 | — |

 Fan spec: 40 mm, 12 V, ≥10 CFM at 0.1" H₂O static pressure.
--- a/docs/AGENTS.md
+++ b/docs/AGENTS.md
@ -4,24 +4,6 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read

 ## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)

-<<<<<<< HEAD
-Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
-
-| Board | Role |
-|-------|------|
-| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
-| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
-| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
-
-```
-Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
-                                │                               │
-                         ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
-                         (QMI8658, PID loop)              (BTS7960, RC, sensors)
-                                │ CAN 500kbps
-                      ┌─────────┴──────────┐
-                 VESC Left (ID 68)    VESC Right (ID 56)
-=======
 A hoverboard-based balancing robot with two compute layers:
 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.
@ -33,9 +15,7 @@ Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
   ESP32-S3 BALANCE (MPU6000 IMU, PID balance)
         │
         ▼ UART2
-   Hoverboard ESC (FOC) → 2× 8" hub motors
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-```
+   Hoverboard ESC (FOC) → 2× 8" hub motors```

 Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`  
 Legacy `src/` STM32 HAL code is **archived — do not extend.**
@ -57,12 +37,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
 ## Repository Layout

 ```
-<<<<<<< HEAD
-firmware/              # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
-=======
-firmware/              # ESP-IDF firmware (PlatformIO)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-├── src/
+firmware/              # ESP-IDF firmware (PlatformIO)├── src/
 │   ├── main.c         # Entry point, clock config, main loop
 │   ├── icm42688.c     # QMI8658-P SPI driver (backup IMU — currently broken)
 │   ├── bmp280.c       # Barometer driver (disabled)
@ -108,25 +83,16 @@ PLATFORM.md            # Hardware platform reference

 ## Hardware Quick Reference

-<<<<<<< HEAD
-### ESP32 BALANCE Flight Controller
-
-| Spec | Value |
-|------|-------|
-| MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
-=======
 ### ESP32-S3 BALANCE Flight Controller

 | Spec | Value |
 |------|-------|
-| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
+| 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 | QMI8658-P (on same SPI1, CS unknown — currently non-functional) |
-| Betaflight Target | DIAT-MAMBAF722_2022B |
+| Board Name | Waveshare ESP32-S3 Touch LCD 1.28 |
 | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
 | VID/PID | 0x0483/0x5740 |
 | LEDs | PC15 (LED1), PC14 (LED2), active low |
@ -194,12 +160,7 @@ 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.
-<<<<<<< HEAD
-2. **DCache breaks SPI on ESP32** — 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.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-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.
+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 Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.

@ -210,19 +171,14 @@ The firmware supports reboot-to-DFU via USB command:
 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
-<<<<<<< HEAD
-5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
-=======
-5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-6. Board appears as DFU device, ready for `dfu-util` flash
+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

 ```bash
 cd firmware/
 python3 -m platformio run                    # Build
-dfu-util -a 0 -s 0x08000000:leave -D .pio/build/f722/firmware.bin  # Flash
+esptool.py --port /dev/esp32-balance write_flash 0x0 firmware.bin  # Flash
 ```

 Dev machine: mbpm4 (seb@192.168.87.40), PlatformIO project at `~/Projects/saltylab-firmware/`
--- a/docs/FACE_LCD_ANIMATION.md
+++ b/docs/FACE_LCD_ANIMATION.md
@ -1,11 +1,6 @@
 # Face LCD Animation System (Issue #507)

-<<<<<<< HEAD
-Implements expressive face animations on an ESP32 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.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ## Features

 ### Emotions
@ -86,12 +81,7 @@ STATUS      → Echo current emotion + idle state
 - Colors: Monochrome (1-bit) or RGB565

 ### Microcontroller
-<<<<<<< HEAD
- ESP32xx (ESP32 BALANCE)
-=======
- ESP32-S3xx (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
- Available UART: USART3 (PB10=TX, PB11=RX)
+- ESP32-S3xx (ESP32-S3 BALANCE)- Available UART: USART3 (PB10=TX, PB11=RX)
 - Clock: 216 MHz

 ## Animation Timing
--- a/docs/SALTYLAB.md
+++ b/docs/SALTYLAB.md
@ -102,11 +102,8 @@ 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.

-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)

 ## LED Subsystem (ESP32-C3)

--- a/docs/wiring-diagram.md
+++ b/docs/wiring-diagram.md
@ -14,13 +14,7 @@
 │                        ORIN NANO SUPER                              │
 │                     (Top Plate — 25W)                               │
 │                                                                     │
-<<<<<<< HEAD
-│  USB-A ──── CANable2 USB-CAN adapter (slcan0, 500 kbps)           │
-│  USB-A ──── ESP32-S3 IO (/dev/esp32-io, 460800 baud)              │
-=======
-│  USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud)            │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-│  USB-A1 ─── RealSense D435i (USB 3.1)                             │
+│  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)     │
 │  USB ─────── Leap Motion Controller (hand/gesture tracking)        │
@ -38,14 +32,8 @@
         │ 500 kbps                       │
         ▼                                ▼
 ┌─────────────────────────────────────────────────────────────────────┐
-<<<<<<< HEAD
-│                  ESP32-S3 BALANCE                                    │
-│          (Waveshare Touch LCD 1.28, Middle Plate)                   │
-=======
 │                     ESP32-S3 BALANCE (FC)                                 │
-│                  (Middle Plate — foam mounted)                       │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-│                                                                     │
+│                  (Middle Plate — foam mounted)                       ││                                                                     │
 │  CAN bus ──── CANable2 → Orin (primary link, ISO 11898)            │
 │  UART0 ──── Orin UART fallback (460800 baud, 3.3V)                │
 │  UART1 ──── VESC Left  (CAN ID 56) via UART/CAN bridge            │
@ -77,29 +65,16 @@

 ## Wire-by-Wire Connections

-<<<<<<< HEAD
-### 1. Orin <-> ESP32-S3 BALANCE (Primary: CAN Bus via CANable2)
-=======
 ### 1. Orin ↔ FC (Primary: USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 | From | To | Wire | Notes |
 |------|----|------|-------|
 | Orin USB-A | CANable2 USB | USB cable | SocketCAN slcan0 @ 500 kbps |
 | CANable2 CAN-H | ESP32-S3 BALANCE CAN-H | twisted pair | ISO 11898 differential |
 | CANable2 CAN-L | ESP32-S3 BALANCE CAN-L | twisted pair | ISO 11898 differential |

-<<<<<<< HEAD
- Interface: SocketCAN `slcan0`, 500 kbps
- Device node: `/dev/canable2` (via udev, symlink to ttyUSBx)
- Protocol: CAN frames --- ORIN_CMD_DRIVE (0x300), ORIN_CMD_MODE (0x301), ORIN_CMD_ESTOP (0x302)
- Telemetry: BALANCE_STATUS (0x400), BALANCE_VESC (0x401), BALANCE_IMU (0x402), BALANCE_BATTERY (0x403)
-=======
 - Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
 - Baud: 921600, 8N1
 - Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ### 2. Orin <-> ESP32-S3 BALANCE (Fallback: Hardware UART)

 | Orin Pin | Signal | ESP32-S3 Pin | Notes |
@ -164,34 +139,6 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` |


-<<<<<<< HEAD
-## FC UART Summary (MAMBA F722S — OBSOLETE)
-
-| Interface | Pins | Baud/Rate | Assignment | Notes |
-|-----------|------|-----------|------------|-------|
-| UART0 | GPIO17=RX, GPIO18=TX | 460800 | Orin UART fallback | 3.3V, cross-connect |
-| UART1 | GPIO19=RX, GPIO20=TX | 115200 | Debug serial | Optional |
-| CAN (TWAI) | GPIO21=H, GPIO22=L | 500 kbps | CAN bus (VESCs + Orin) | SN65HVD230 transceiver |
-| I2C | GPIO4=SDA, GPIO5=SCL | 400 kHz | QMI8658 IMU (addr 0x6B) | Onboard |
-| SPI | GPIO36=MOSI, GPIO37=SCLK, GPIO35=CS | 40 MHz | GC9A01 LCD (onboard) | 240x240 round |
-| USB CDC | USB-C | 460800 | Orin USB fallback | /dev/esp32-balance |
-
-## CAN Frame ID Map
-
-| CAN ID | Direction | Name | Contents |
-|--------|-----------|------|----------|
-| 0x300 | Orin -> BALANCE | ORIN_CMD_DRIVE | left_rpm_f32, right_rpm_f32 (8 bytes LE) |
-| 0x301 | Orin -> BALANCE | ORIN_CMD_MODE | mode byte (0=IDLE, 1=DRIVE, 2=ESTOP) |
-| 0x302 | Orin -> BALANCE | ORIN_CMD_ESTOP | flags byte (bit0=stop, bit1=clear) |
-| 0x400 | BALANCE -> Orin | BALANCE_STATUS | pitch x10:i16, motor_cmd:u16, vbat_mv:u16, state:u8, flags:u8 |
-| 0x401 | BALANCE -> Orin | BALANCE_VESC | l_rpm x10:i16, r_rpm x10:i16, l_cur x10:i16, r_cur x10:i16 |
-| 0x402 | BALANCE -> Orin | BALANCE_IMU | pitch x100:i16, roll x100:i16, yaw x100:i16, ax x100:i16, ay x100:i16, az x100:i16 |
-| 0x403 | BALANCE -> Orin | BALANCE_BATTERY | vbat_mv:u16, current_ma:i16, soc_pct:u8 |
-| 0x900+ID | VESC Left -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
-| 0x910+ID | VESC Right -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
-
-VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
-=======
 ## FC UART Summary (ESP32-S3 BALANCE)

 | UART | Pins | Baud | Assignment | Notes |
@ -203,8 +150,6 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
 | UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
 | USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
 | USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-

 ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)

@ -263,14 +208,7 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).

 | Device | Interface | Power Draw |
 |--------|-----------|------------|
-<<<<<<< HEAD
-| CANable2 USB-CAN | USB-A | ~0.5W |
-| ESP32-S3 BALANCE | USB-C | ~0.8W (WiFi off) |
-| ESP32-S3 IO | USB-C | ~0.5W |
-=======
-| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| RealSense D435i | USB-A | ~1.5W (3.5W peak) |
+| 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 |
 | Leap Motion | USB-A | ~0.5W |
@ -294,25 +232,14 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
                    └──────┬───────┘
                           │ UART
              ┌────────────▼────────────┐
-<<<<<<< HEAD
-              │   ESP32-S3 BALANCE      │
-              │  (Waveshare LCD 1.28)   │
-=======
-              │      ESP32-S3 BALANCE        │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-              │                         │
+              │      ESP32-S3 BALANCE        │              │                         │
              │  QMI8658 -> Balance PID │
              │  RC -> Mode Manager     │
              │  Safety Monitor         │
              │                         │
              └──┬──────────┬───────────┘
-<<<<<<< HEAD
-    CAN 500kbps─┘          └───── CAN bus / UART fallback
-=======
    USART2 ─────┘          └───── USB Serial (CH343) / USART6
-    26400 baud                    921600 baud
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-         │                              │
+    26400 baud                    921600 baud         │                              │
    ┌────┴────────────┐                 ▼
    │ CAN bus (500k)  │        ┌───────────────────┐
    ├─ VESC Left  56  │        │   Orin Nano Super  │
--- a/jetson/README.md
+++ b/jetson/README.md
@ -14,12 +14,7 @@ Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + S
 | Nav | Nav2 |
 | Depth camera | Intel RealSense D435i |
 | LiDAR | RPLIDAR A1M8 |
-<<<<<<< HEAD
-| MCU bridge | ESP32 (USB CDC @ 921600) |
-=======
 | MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ## Quick Start

 ```bash
@ -46,12 +41,7 @@ bash scripts/build-and-run.sh shell
 ```
 jetson/
 ├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
-<<<<<<< HEAD
-├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
-=======
-├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-├── README.md               # This file
+├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)├── README.md               # This file
 ├── docs/
 │   ├── pinout.md           # GPIO/I2C/UART pinout reference
 │   └── power-budget.md     # Power budget analysis (10W envelope)
--- a/jetson/config/RECOVERY_BEHAVIORS.md
+++ b/jetson/config/RECOVERY_BEHAVIORS.md
@ -34,12 +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.

-<<<<<<< HEAD
-Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
-=======
 Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ## Behavior Tree Sequence

 Recovery runs in a round-robin fashion with up to 6 retry cycles.
--- a/jetson/config/nav2_params.yaml
+++ b/jetson/config/nav2_params.yaml
@ -12,12 +12,7 @@
 #   /scan                    — RPLIDAR A1M8  (obstacle layer)
 #   /camera/depth/color/points — RealSense D435i (voxel layer)
 #
-<<<<<<< HEAD
-# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
-=======
 # Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 bt_navigator:
  ros__parameters:
    use_sim_time: false
--- a/jetson/docker-compose.yml
+++ b/jetson/docker-compose.yml
@ -97,12 +97,7 @@ services:
          rgb_camera.profile:=640x480x30
      "

-<<<<<<< HEAD
-  # ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
-=======
-  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  esp32-bridge:
+  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────  esp32-bridge:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
@ -212,14 +207,8 @@ services:
      "


-<<<<<<< HEAD
-  # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
-  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
-=======
  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
-  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
+  # 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
    build:
--- a/jetson/docs/pinout.md
+++ b/jetson/docs/pinout.md
@ -1,10 +1,5 @@
 # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
-<<<<<<< HEAD
-## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
-=======
 ## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Last updated: 2026-02-28
 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)

@ -47,50 +42,26 @@ i2cdetect -l

 ---

-<<<<<<< HEAD
-## 1. ESP32 Bridge (USB CDC — Primary)
-
-The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
-=======
 ## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary)

 The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ### USB Serial (CH343) Connection
 | Connection | Detail |
 |-----------|--------|
-<<<<<<< HEAD
-| Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
-| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
-| Baud rate | 921600 (configured in ESP32 BALANCE 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) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
+| 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)
-<<<<<<< HEAD
-| Jetson Pin | Signal | ESP32 Pin | Notes |
-=======
-| Jetson Pin | Signal | ESP32-S3 Pin | Notes |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-|-----------|--------|-----------|-------|
+| 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 |
 | Pin 6 (GND) | GND | GND | Common ground **required** |

 **Jetson device node:** `/dev/ttyTHS0`
 **Baud rate:** 921600, 8N1
-<<<<<<< HEAD
-**Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
-=======
 **Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ```bash
 # Verify UART
 ls /dev/ttyTHS0
@ -99,15 +70,6 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```

-<<<<<<< HEAD
-**ROS2 topics (ESP32 bridge node):**
-| ROS2 Topic | Direction | Content |
-|-----------|-----------|---------
-| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz |
-| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
-| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
-| `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
-=======
 **ROS2 topics (ESP32-S3 bridge node):**
 | ROS2 Topic | Direction | Content |
 |-----------|-----------|---------
@ -115,8 +77,6 @@ picocom -b 921600 /dev/ttyTHS0
 | `/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 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ---

 ## 2. RealSense D435i (USB 3.1)
@ -300,12 +260,7 @@ 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) |
-<<<<<<< HEAD
-| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
-=======
-| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| Micro-USB | Debug/flash | JetPack flash only |
+| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash || Micro-USB | Debug/flash | JetPack flash only |

 ---

@ -315,18 +270,10 @@ sudo mkdir -p /mnt/nvme
 |-------------|----------|---------|----------|
 | 3 | SDA1 | 3.3V | I2C data (i2c-7) |
 | 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
-<<<<<<< HEAD
-| 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
-| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
-| USB-A ×2 | — | 5V | D435i, RPLIDAR |
-| USB-C | — | 5V | ESP32 CDC |
-=======
 | 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 | ESP32-S3 CDC |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
+| 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 |

@ -343,12 +290,7 @@ Apply stable device names:
 KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
  SYMLINK+="rplidar", MODE="0666"

-<<<<<<< HEAD
-# ESP32 USB CDC (STMicroelectronics)
-=======
-# ESP32-S3 USB Serial (CH343) (STMicroelectronics)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
+# ESP32-S3 USB Serial (CH343) (STMicroelectronics)KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
  SYMLINK+="esp32-bridge", MODE="0666"

 # Intel RealSense D435i
--- a/jetson/docs/power-budget.md
+++ b/jetson/docs/power-budget.md
@ -56,12 +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 |
-<<<<<<< HEAD
-| ESP32 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 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-| 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
+| 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** | | |

 ### Total System (from Jetson 5V barrel jack)
@ -155,12 +150,7 @@ LiPo 4S (16.8V max)
       ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
       │   (e.g., XL4016E1)
       │
-<<<<<<< HEAD
-       ├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
-=======
-       ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-       │
+       ├─► 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
@ -11,12 +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.
-<<<<<<< HEAD
-# ESP32 BALANCE 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.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-heartbeat_period: 0.2    # seconds (= 200ms)
+# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.heartbeat_period: 0.2    # seconds (= 200ms)

 # Twist → ESC command scaling
 #   speed = clamp(linear.x  * speed_scale, -1000, 1000)  [m/s → ESC units]
--- 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
@ -1,10 +1,5 @@
 # cmd_vel_bridge_params.yaml
-<<<<<<< HEAD
-# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
-=======
-# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-#
+# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.#
 # Run with:
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
 # Or override individual params:
@ -18,12 +13,7 @@ timeout:          0.05       # serial readline timeout (s)
 reconnect_delay:  2.0        # seconds between reconnect attempts

 # ── Heartbeat ──────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-# ESP32 BALANCE 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).
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-# Keep heartbeat well below that threshold.
+# 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)

 # ── Velocity limits ────────────────────────────────────────────────────────────
@ -58,9 +48,4 @@ 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.
-<<<<<<< HEAD
-# 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
-=======
-# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-cmd_vel_timeout:  0.5        # seconds
+# 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
@ -1,21 +1,3 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
-# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
-# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
-# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
-# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
-
-# ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
-# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
-serial_port:      /dev/esp32-io
-baud_rate:        460800
-reconnect_delay:  2.0        # seconds between reconnect attempts
-
-# ── Heartbeat ─────────────────────────────────────────────────────────────────
-# HEARTBEAT (0x20) sent every heartbeat_period.
-# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
-heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog
-=======
 # esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
 # Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.

@ -45,5 +27,4 @@ watchdog_timeout: 0.5        # 500ms
 # Negative steer_scale flips ROS2 CCW+ convention to match ESC steer direction.
 # Tune speed_scale to set the physical top speed.
 speed_scale:  1000.0
-steer_scale:  -500.0
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml
+steer_scale:  -500.0
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
@ -6,12 +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
-<<<<<<< HEAD
-     and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
-=======
     and TX /cmd_vel → ESP32-S3 commands + heartbeat.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
  2. RX-only (telemetry monitor, no drive commands):
       ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
     Starts serial_bridge_node — telemetry RX only. Use when you want to
@ -69,12 +64,7 @@ def generate_launch_description():
        DeclareLaunchArgument("mode",         default_value="bidirectional",
                              description="bidirectional | rx_only"),
        DeclareLaunchArgument("serial_port",  default_value="/dev/ttyACM0",
-<<<<<<< HEAD
-                              description="ESP32 USB CDC device node"),
-=======
-                              description="ESP32-S3 USB CDC device node"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        DeclareLaunchArgument("baud_rate",    default_value="921600"),
+                              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)"),
        DeclareLaunchArgument("steer_scale",  default_value="-500.0",
--- 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
@ -1,19 +1,9 @@
 """
-<<<<<<< HEAD
-cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
-=======
 cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 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)
-<<<<<<< HEAD
-  - Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
-=======
-  - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
+  - 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)

 Do NOT run alongside serial_bridge_node or saltybot_cmd_node on the same port.
@ -80,21 +70,11 @@ def generate_launch_description():
            description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
        DeclareLaunchArgument(
            "serial_port",     default_value="/dev/ttyACM0",
-<<<<<<< HEAD
-            description="ESP32 USB CDC device node"),
-=======
-            description="ESP32-S3 USB CDC device node"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        DeclareLaunchArgument(
+            description="ESP32-S3 USB CDC device node"),        DeclareLaunchArgument(
            "baud_rate",       default_value="921600"),
        DeclareLaunchArgument(
            "heartbeat_period",default_value="0.2",
-<<<<<<< HEAD
-            description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
-=======
-            description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        DeclareLaunchArgument(
+            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)"),
        DeclareLaunchArgument(
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
@ -1,16 +1,3 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
-"""stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node.
-
-Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol).
-Handles RC monitoring, sensor data, LED/output commands.
-Primary drive path uses CAN (can_bridge_node / saltybot_can_node), not this node.
-
-Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
-
-Usage:
-  ros2 launch saltybot_bridge stm32_cmd.launch.py
-  ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0
-=======
 """esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).

 Usage:
@ -21,9 +8,7 @@ Usage:
  ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1

  # Custom velocity scales:
-  ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
-"""
+  ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0"""

 import os
 from ament_index_python.packages import get_package_share_directory
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
@ -2,12 +2,7 @@
 uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)

 Launches serial_bridge_node configured for Jetson Orin UART port.
-<<<<<<< HEAD
-Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
-=======
 Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Published topics (same as USB CDC bridge):
  /saltybot/imu              sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
  /saltybot/balance_state    std_msgs/String (JSON)  — full PID diagnostics
@ -24,12 +19,7 @@ Usage:

 Prerequisites:
  - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
-<<<<<<< HEAD
-  - ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
-=======
-  - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  - ROS2 environment sourced (source install/setup.bash)
+  - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)  - ROS2 environment sourced (source install/setup.bash)

 Note:
  /dev/ttyTHS1 is the native UART1 on Jetson Orin. Verify connectivity:
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
@ -14,12 +14,7 @@ Alert levels (SoC thresholds):
   5%  EMERGENCY — publish zero /cmd_vel, disarm, log + alert

 SoC source priority:
-<<<<<<< HEAD
-  1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
-=======
-  1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
+  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):
  db_path              /var/log/saltybot/battery.db
@ -324,12 +319,7 @@ class BatteryNode(Node):
        self._speed_limit_pub.publish(msg)

    def _execute_safe_stop(self) -> None:
-<<<<<<< HEAD
-        """Send zero /cmd_vel and disarm the ESP32 BALANCE."""
-=======
-        """Send zero /cmd_vel and disarm the ESP32-S3."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
+        """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()
        self._cmd_vel_pub.publish(zero_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
@ -1,10 +1,5 @@
 """
-<<<<<<< HEAD
-cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
-=======
 cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Extends the basic saltybot_cmd_node with four additions required for safe
 autonomous operation on a self-balancing robot:

@ -16,28 +11,16 @@ 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).
-<<<<<<< HEAD
-  4. Mode gate         — only issue non-zero drive commands when ESP32 BALANCE reports
-=======
-  4. Mode gate         — only issue non-zero drive commands when ESP32-S3 reports
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-                         md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
+  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
                         acceleration is always smooth from rest.

 Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
  C<spd>,<str>\\n  — drive command. speed/steer: -1000..+1000 integers.
-<<<<<<< HEAD
-  H\\n             — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
-
-Telemetry (50 Hz from ESP32 BALANCE):
-=======
  H\\n             — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence.

-Telemetry (50 Hz from ESP32-S3):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  Same RX/publish pipeline as saltybot_cmd_node.
+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.

 Topics published:
@ -164,12 +147,7 @@ class CmdVelBridgeNode(Node):
        self._open_serial()

        # ── Timers ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-        # Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
-=======
-        # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._read_timer    = self.create_timer(0.01,             self._read_cb)
+        # 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)
        # Heartbeat TX
@ -256,12 +234,7 @@ class CmdVelBridgeNode(Node):
            speed = self._current_speed
            steer = self._current_steer

-<<<<<<< HEAD
-        # Send to ESP32 BALANCE
-=======
-        # Send to ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        frame = f"C{speed},{steer}\n".encode("ascii")
+        # Send to ESP32-S3        frame = f"C{speed},{steer}\n".encode("ascii")
        if not self._write(frame):
            self.get_logger().warn(
                "Cannot send cmd — serial not open",
@ -278,12 +251,7 @@ class CmdVelBridgeNode(Node):
    # ── Heartbeat TX ──────────────────────────────────────────────────────────

    def _heartbeat_cb(self):
-<<<<<<< HEAD
-        """H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
-=======
-        """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._write(b"H\n")
+        """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""        self._write(b"H\n")

    # ── Telemetry RX ──────────────────────────────────────────────────────────

@ -404,12 +372,7 @@ class CmdVelBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        status.message     = f"{state_label} [{mode_label}]"
+        status.hardware_id = "esp32s322"        status.message     = f"{state_label} [{mode_label}]"
        status.level = (
            DiagnosticStatus.OK    if state == 1 else
            DiagnosticStatus.WARN  if state == 0 else
@ -436,20 +399,11 @@ class CmdVelBridgeNode(Node):
        status = DiagnosticStatus()
        status.level       = DiagnosticStatus.ERROR
        status.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-        status.message     = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
-=======
        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"ESP32-S3 IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    # ── Lifecycle ─────────────────────────────────────────────────────────────

    def destroy_node(self):
--- 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
@ -1,31 +1,15 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-"""stm32_cmd_node.py — Orin ↔ ESP32-S3 IO auxiliary bridge node.
-=======
 """esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-
 Connects to the ESP32-S3 IO board via USB-CDC (/dev/esp32-io) using the
 inter-board binary protocol (docs/SAUL-TEE-SYSTEM-REFERENCE.md §5).

-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-This node is NOT the primary drive path (that is CAN via can_bridge_node).
-It handles auxiliary I/O: RC monitoring, sensor data, LED/output control.
-=======
 TX commands (Jetson → ESP32-S3):
  SPEED_STEER  — 50 Hz from /cmd_vel subscription
  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
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-
 Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]  @ 460800 baud

-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-RX from ESP32 IO:
-  RC_CHANNELS (0x01) → /saltybot/rc_channels  (std_msgs/String JSON)
-  SENSORS     (0x02) → /saltybot/sensors       (std_msgs/String JSON)
-=======
 RX telemetry (ESP32-S3 → Jetson):
  IMU          → /saltybot/imu           (sensor_msgs/Imu)
  BATTERY      → /saltybot/telemetry/battery (std_msgs/String JSON)
@ -33,20 +17,11 @@ RX telemetry (ESP32-S3 → Jetson):
  ARM_STATE    → /saltybot/arm_state     (std_msgs/String JSON)
  ERROR        → /saltybot/error         (std_msgs/String JSON)
  All frames   → /diagnostics            (diagnostic_msgs/DiagnosticArray)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-
 TX to ESP32 IO:
  LED_CMD     (0x10) ← /saltybot/leds          (std_msgs/String JSON)
  OUTPUT_CMD  (0x11) ← /saltybot/outputs       (std_msgs/String JSON)
  HEARTBEAT   (0x20)  — sent every heartbeat_period (keep IO watchdog alive)

-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-Parameters (config/stm32_cmd_params.yaml):
-  serial_port       /dev/esp32-io
-  baud_rate         460800
-  reconnect_delay   2.0
-  heartbeat_period  0.2   (ESP32 IO watchdog fires at ~500 ms)
-=======
 Parameters (config/esp32_cmd_params.yaml):
  serial_port       /dev/ttyACM0
  baud_rate         921600
@ -54,9 +29,7 @@ Parameters (config/esp32_cmd_params.yaml):
  heartbeat_period  0.2   (seconds)
  watchdog_timeout  0.5   (seconds — no /cmd_vel → send zero-speed)
  speed_scale       1000.0 (linear.x m/s → ESC units)
-  steer_scale      -500.0  (angular.z rad/s → ESC units, neg to flip convention)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-"""
+  steer_scale      -500.0  (angular.z rad/s → ESC units, neg to flip convention)"""

 from __future__ import annotations

@ -73,13 +46,7 @@ import serial
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from std_msgs.msg import String

-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-from .stm32_protocol import (
-    BAUD_RATE,
-=======
-from .esp32_protocol import (
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-    FrameParser,
+from .esp32_protocol import (    FrameParser,
    RcChannels,
    SensorData,
    encode_heartbeat,
@ -88,13 +55,8 @@ from .esp32_protocol import (
 )


-class Stm32CmdNode(Node):
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-    """Orin ↔ ESP32-S3 IO auxiliary bridge node."""
-=======
+class Esp32CmdNode(Node):
    """Binary-framed Jetson↔ESP32-S3 bridge node."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-
    def __init__(self) -> None:
        super().__init__("esp32_cmd_node")

@ -138,13 +100,8 @@ class Stm32CmdNode(Node):
        self._diag_timer = self.create_timer(1.0,             self._publish_diagnostics)

        self.get_logger().info(
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-            f"stm32_cmd_node started — {self._port_name} @ {self._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"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-        )
+            f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"        )

    # ── Serial management ─────────────────────────────────────────────────

@ -245,9 +202,6 @@ class Stm32CmdNode(Node):
            type_code, _ = msg
            self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}")

-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-    # ── TX ────────────────────────────────────────────────────────────────
-=======
        elif isinstance(frame, ArmStateFrame):
            self._publish_arm_state(frame, now)

@ -358,8 +312,6 @@ class Stm32CmdNode(Node):
                "SPEED_STEER dropped — serial not open",
                throttle_duration_sec=2.0,
            )
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
-
    def _heartbeat_cb(self) -> None:
        self._write(encode_heartbeat())

@ -399,14 +351,8 @@ class Stm32CmdNode(Node):
        diag = DiagnosticArray()
        diag.header.stamp = self.get_clock().now().to_msg()
        status = DiagnosticStatus()
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-        status.name        = "saltybot/esp32_io_bridge"
-        status.hardware_id = "esp32-s3-io"
-=======
        status.name        = "saltybot/esp32_cmd_node"
        status.hardware_id = "esp32s322"
-
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
        port_ok = self._ser is not None and self._ser.is_open
        status.level   = DiagnosticStatus.OK if port_ok else DiagnosticStatus.ERROR
        status.message = "Serial OK" if port_ok else f"Disconnected: {self._port_name}"
@ -436,7 +382,7 @@ class Stm32CmdNode(Node):

 def main(args=None) -> None:
    rclpy.init(args=args)
-    node = Stm32CmdNode()
+    node = Esp32CmdNode()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
--- 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
@ -1,16 +1,8 @@
 """
-<<<<<<< HEAD
-remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
-
-{"kill": true}  -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
-{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
-=======
 remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC

 {"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)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
 AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).

--- 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
@ -9,13 +9,13 @@ back to FC over CAN.
 CAN interface: SocketCAN (CANable USB adapter on vcan0 / can0)

 FC → Orin (telemetry):
-  0x400  FC_STATUS   int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv,
+  0x400  BALANCE_STATUS   int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv,
                     uint8 balance_state, uint8 flags          (10 Hz)
-  0x401  FC_VESC     int16 left_rpm_x10, int16 right_rpm_x10,
+  0x401  BALANCE_VESC     int16 left_rpm_x10, int16 right_rpm_x10,
                     int16 left_cur_x10, int16 right_cur_x10   (10 Hz)
-  0x402  FC_IMU      int16 pitch_x10, int16 roll_x10, int16 yaw_x10,
+  0x402  BALANCE_IMU      int16 pitch_x10, int16 roll_x10, int16 yaw_x10,
                     uint8 cal_status, uint8 balance_state      (50 Hz)
-  0x403  FC_BARO     int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz)
+  0x403  BALANCE_BARO     int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz)

 Orin → FC (commands):
  0x300  HEARTBEAT   uint32 sequence counter                    (5 Hz)
@ -57,10 +57,10 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue

 # ---- CAN frame IDs ------------------------------------------------

-CAN_FC_STATUS   = 0x400
-CAN_FC_VESC     = 0x401
-CAN_FC_IMU      = 0x402
-CAN_FC_BARO     = 0x403
+CAN_BALANCE_STATUS   = 0x400
+CAN_BALANCE_VESC     = 0x401
+CAN_BALANCE_IMU      = 0x402
+CAN_BALANCE_BARO     = 0x403

 CAN_HEARTBEAT   = 0x300
 CAN_DRIVE       = 0x301
@ -216,11 +216,11 @@ class SaltybotCanNode(Node):

    def _dispatch(self, can_id: int, data: bytes):
        now = self.get_clock().now().to_msg()
-        if can_id == CAN_FC_IMU and len(data) >= 8:
+        if can_id == CAN_BALANCE_IMU and len(data) >= 8:
            self._handle_fc_imu(data, now)
-        elif can_id == CAN_FC_STATUS and len(data) >= 8:
+        elif can_id == CAN_BALANCE_STATUS and len(data) >= 8:
            self._handle_fc_status(data)
-        elif can_id == CAN_FC_BARO and len(data) >= 8:
+        elif can_id == CAN_BALANCE_BARO and len(data) >= 8:
            self._handle_fc_baro(data, now)

    # ── Frame handlers ───────────────────────────────────────────────
@ -322,12 +322,7 @@ class SaltybotCanNode(Node):
        diag.header.stamp = stamp
        st = DiagnosticStatus()
        st.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
-        st.hardware_id = "esp32"
-=======
-        st.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        st.message     = state_label
+        st.hardware_id = "esp32s322"        st.message     = state_label
        st.level       = (DiagnosticStatus.OK    if state == 1 else
                          DiagnosticStatus.WARN   if state == 0 else
                          DiagnosticStatus.ERROR)
--- 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
@ -1,26 +1,8 @@
 """
-<<<<<<< HEAD
-saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
-=======
-saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Combines telemetry RX (from serial_bridge_node) with drive command TX.
+saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridgeCombines telemetry RX (from serial_bridge_node) with drive command TX.

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

-<<<<<<< HEAD
-RX path (50Hz from ESP32 BALANCE):
-  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
-
-TX path:
-  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32 BALANCE
-  Heartbeat timer (200ms)        → H\\n                 → ESP32 BALANCE
-
-Protocol:
-  H\\n              — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.
-  C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
-                      C command also refreshes ESP32 BALANCE heartbeat timer.
-=======
 RX path (50Hz from ESP32-S3):
  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics

@ -32,8 +14,6 @@ Protocol:
  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 ESP32-S3 heartbeat timer.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Twist mapping (configurable via ROS2 params):
  speed = clamp(linear.x  * speed_scale, -1000, 1000)
  steer = clamp(angular.z * steer_scale, -1000, 1000)
@ -118,12 +98,7 @@ class SaltybotCmdNode(Node):
        self._open_serial()

        # ── Timers ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-        # Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
-=======
-        # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._read_timer = self.create_timer(0.01, self._read_cb)
+        # 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)

@ -288,12 +263,7 @@ class SaltybotCmdNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        status.message = state_label
+        status.hardware_id = "esp32s322"        status.message = state_label
        if state == 1:
            status.level = DiagnosticStatus.OK
        elif state == 0:
@ -320,20 +290,11 @@ class SaltybotCmdNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-        status.message = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
-=======
        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"ESP32-S3 IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    # ── TX — command send ─────────────────────────────────────────────────────

    def _cmd_vel_cb(self, msg: Twist):
@ -350,12 +311,7 @@ class SaltybotCmdNode(Node):
            )

    def _heartbeat_cb(self):
-<<<<<<< HEAD
-        """Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
-=======
-        """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._write(b"H\n")
+        """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
@ -1,11 +1,6 @@
 """
 saltybot_bridge — serial_bridge_node
-<<<<<<< HEAD
-ESP32 USB CDC → ROS2 topic publisher
-=======
 ESP32-S3 USB CDC → ROS2 topic publisher
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Telemetry frame (50 Hz, newline-delimited JSON):
  {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
   "m":<motor_cmd -1000..1000>,"s":<state 0-2>,"y":<yaw×10>}
@ -33,12 +28,7 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue

-<<<<<<< HEAD
-# Balance state labels matching ESP32 BALANCE balance_state_t enum
-=======
-# Balance state labels matching ESP32-S3 balance_state_t enum
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
+# 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
 IMU_FRAME_ID = "imu_link"
@ -91,12 +81,7 @@ class SerialBridgeNode(Node):

        # ── Open serial and start read timer ──────────────────────────────────
        self._open_serial()
-<<<<<<< HEAD
-        # Poll at 100 Hz — ESP32 BALANCE 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
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._timer = self.create_timer(0.01, self._read_cb)
+        # 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(
            f"stm32_serial_bridge started — {port} @ {baud} baud"
@ -129,12 +114,7 @@ class SerialBridgeNode(Node):

    def write_serial(self, data: bytes) -> bool:
        """
-<<<<<<< HEAD
-        Send raw bytes to ESP32 BALANCE over the open serial port.
-=======
-        Send raw bytes to ESP32-S3 over the open serial port.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        Returns False if port is not open (caller should handle gracefully).
+        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.
        """
        if self._ser is None or not self._ser.is_open:
@ -222,12 +202,7 @@ class SerialBridgeNode(Node):
        """
        Publish sensor_msgs/Imu.

-<<<<<<< HEAD
-        The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
-=======
-        The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        fusion, yaw from gyro integration). We publish them as angular_velocity
+        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.

        Note: orientation quaternion is left zeroed (covariance [-1,...]) until
@ -284,12 +259,7 @@ class SerialBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        status.message = state_label
+        status.hardware_id = "esp32s322"        status.message = state_label

        if state == 1:   # ARMED
            status.level = DiagnosticStatus.OK
@ -317,20 +287,11 @@ class SerialBridgeNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
-        status.hardware_id = "esp32"
-        status.message = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}")
-=======
        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"ESP32-S3 reported IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    def destroy_node(self):
        self._close_serial()
        super().destroy_node()
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@ -29,12 +29,7 @@ setup(
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
-<<<<<<< HEAD
-    description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
-=======
-    description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    license="MIT",
+    description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",    license="MIT",
    tests_require=["pytest"],
    entry_points={
        "console_scripts": [
@ -45,14 +40,8 @@ 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",
-<<<<<<< HEAD
-            # Binary-framed ESP32 BALANCE 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",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-            # Battery management node (Issue #125)
+            "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)
            "saltybot_can_node = saltybot_bridge.saltybot_can_node:main",
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
@ -1,10 +1,5 @@
 """
-<<<<<<< HEAD
-Unit tests for Jetson→ESP32 BALANCE command serialization logic.
-=======
-Unit tests for Jetson→ESP32-S3 command serialization logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Tests Twist→speed/steer conversion and frame formatting.
+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_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.
+"""test_esp32_cmd_node.py — Unit tests for Esp32CmdNode with mock serial port.

 Tests:
  - Serial open/close lifecycle
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
@ -1,10 +1,5 @@
 """
-<<<<<<< HEAD
-Unit tests for ESP32 BALANCE telemetry parsing logic.
-=======
-Unit tests for ESP32-S3 telemetry parsing logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
+Unit tests for ESP32-S3 telemetry parsing logic.Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
 """

 import json
--- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
@ -19,12 +19,7 @@
 #   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
 #   DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
 #
-<<<<<<< HEAD
-# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
-=======
 # Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 bt_navigator:
  ros__parameters:
    use_sim_time: false
--- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
@ -2,12 +2,7 @@
 # Master configuration for full stack bringup

 # ────────────────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-# HARDWARE — ESP32 BALANCE Bridge & Motor Control
-=======
-# HARDWARE — ESP32-S3 Bridge & Motor Control
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-# ────────────────────────────────────────────────────────────────────────────
+# HARDWARE — ESP32-S3 Bridge & Motor Control# ────────────────────────────────────────────────────────────────────────────

 saltybot_bridge_node:
  ros__parameters:
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
@ -39,12 +39,7 @@ Modes
    ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
    ─ YOLOv8n person detection (TensorRT)
    ─ Person follower with UWB+camera fusion
-<<<<<<< HEAD
-    ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
-=======
-    ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    ─ rosbridge WebSocket (port 9090)
+    ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)    ─ rosbridge WebSocket (port 9090)

  outdoor
    ─ RPLIDAR + RealSense D435i sensors (no SLAM)
@ -61,14 +56,8 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
   t= 0s  robot_description   (URDF + TF tree)
-<<<<<<< HEAD
-   t= 0s  ESP32 bridge        (serial port owner — must be first)
-   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 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)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-   t= 2s  sensors             (RPLIDAR + RealSense)
+   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)
   t= 5s  audio_pipeline      (Jabra SPEAK 810: wake word + STT + TTS; Issue #503)
@ -80,18 +69,10 @@ Launch sequence (wall-clock delays — conservative for cold start)

 Safety wiring
 ─────────────
-<<<<<<< HEAD
-  • ESP32 bridge must be up before cmd_vel bridge sends any command.
-  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
-  • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
-    until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
-=======
  • 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.
  • 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.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  • follow_enabled:=false disables person follower without stopping the node.
+    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}'

 Topics published by this stack
@ -107,12 +88,7 @@ Topics published by this stack
  /person/target                   PoseStamped    (camera position, base_link)
  /person/detections               Detection2DArray
  /cmd_vel                         Twist          (from follower or Nav2)
-<<<<<<< HEAD
-  /saltybot/cmd                    String         (to ESP32 BALANCE)
-=======
-  /saltybot/cmd                    String         (to ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  /saltybot/imu                    Imu
+  /saltybot/cmd                    String         (to ESP32-S3)  /saltybot/imu                    Imu
  /saltybot/balance_state          String
 """

@ -229,12 +205,7 @@ def generate_launch_description():
    enable_bridge_arg = DeclareLaunchArgument(
        "enable_bridge",
        default_value="true",
-<<<<<<< HEAD
-        description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
-=======
-        description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    )
+        description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",    )

    enable_rosbridge_arg = DeclareLaunchArgument(
        "enable_rosbridge",
@ -294,12 +265,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
    esp32_port_arg = DeclareLaunchArgument(
        "esp32_port",
        default_value="/dev/esp32-bridge",
-<<<<<<< HEAD
-        description="ESP32 USB CDC serial port",
-=======
-        description="ESP32-S3 USB CDC serial port",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    )
+        description="ESP32-S3 USB CDC serial port",    )

    # ── Shared substitution handles ───────────────────────────────────────────
    # Profile argument for parameter override (Issue #506)
@ -318,12 +284,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )

-<<<<<<< HEAD
-    # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
-=======
-    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    esp32_bridge = GroupAction(
+    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────    esp32_bridge = GroupAction(
        condition=IfCondition(LaunchConfiguration("enable_bridge")),
        actions=[
            IncludeLaunchDescription(
@ -352,12 +313,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        ],
    )

-<<<<<<< HEAD
-    # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
-=======
-    # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    cmd_vel_bridge = TimerAction(
+    # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────    cmd_vel_bridge = TimerAction(
        period=2.0,
        actions=[
            GroupAction(
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
@ -19,12 +19,7 @@ Usage

 Startup sequence
 ────────────────
-<<<<<<< HEAD
-  GROUP A — Drivers      t= 0 s  ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
-=======
-  GROUP A — Drivers      t= 0 s  ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
+  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)
  GROUP C — Navigation   t=16 s  SLAM, Nav2, lidar avoidance, follower, docking
@ -127,12 +122,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
    esp32_port_arg = DeclareLaunchArgument(
        "esp32_port",
        default_value="/dev/esp32-bridge",
-<<<<<<< HEAD
-        description="ESP32 UART bridge serial device",
-=======
-        description="ESP32-S3 USART bridge serial device",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    )
+        description="ESP32-S3 USART bridge serial device",    )

    uwb_port_a_arg = DeclareLaunchArgument(
        "uwb_port_a",
@ -206,12 +196,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901

    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
    # GROUP A — DRIVERS   (t = 0 s, all profiles)
-<<<<<<< HEAD
-    # Dependency order: ESP32 bridge first, then sensors, then motor daemon.
-=======
-    # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
+    # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.    # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━

    group_a_banner = LogInfo(
@ -224,12 +209,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )

-<<<<<<< HEAD
-    # ESP32 BALANCE bridge
-=======
-    # ESP32-S3 bidirectional bridge (JLINK USART1)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    esp32_bridge = IncludeLaunchDescription(
+    # ESP32-S3 bidirectional bridge (JLINK USART1)    esp32_bridge = IncludeLaunchDescription(
        _launch("saltybot_bridge", "launch", "bridge.launch.py"),
        launch_arguments={
            "mode":        "bidirectional",
@ -248,12 +228,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        ],
    )

-<<<<<<< HEAD
-    # Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
-=======
-    # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    motor_daemon = TimerAction(
+    # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)    motor_daemon = TimerAction(
        period=2.5,
        actions=[
            LogInfo(msg="[saltybot_bringup] t=2.5s  Starting motor daemon"),
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
@ -20,12 +20,7 @@ theta is kept in (−π, π] after every step.

 Int32 rollover
 --------------
-<<<<<<< HEAD
-ESP32 BALANCE 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
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-this by detecting jumps larger than half the int32 range and adjusting by the
+ESP32-S3 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handlesthis by detecting jumps larger than half the int32 range and adjusting by the
 full range:

    if  delta >  2^30 : delta -= 2^31
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
@ -69,12 +69,7 @@ class Profile:
    t_ui:         float = 22.0  # Group D (nav2 needs ~4 s to load costmaps)

    # ── Safety ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-    watchdog_timeout_s:  float = 5.0   # max silence from ESP32 bridge (s)
-=======
-    watchdog_timeout_s:  float = 5.0   # max silence from ESP32-S3 bridge (s)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    cmd_vel_deadman_s:   float = 0.5   # cmd_vel watchdog in bridge
+    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)

@ -94,12 +89,7 @@ class Profile:
 # ── Profile factory ────────────────────────────────────────────────────────────

 def _minimal() -> Profile:
-<<<<<<< HEAD
-    """Minimal: ESP32 bridge + sensors + motor daemon.
-=======
    """Minimal: ESP32-S3 bridge + sensors + motor daemon.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    Safe drive control only.  No AI, no nav, no social.
    Boot time ~4 s.  RAM ~400 MB.
    """
--- 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
@ -1,12 +1,7 @@
 """
 wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).

-<<<<<<< HEAD
-Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
-=======
-Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
+Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integratesdifferential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
 Optionally broadcasts the odom → base_link TF transform.

 Subscribes:
--- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
+++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
@ -61,12 +61,7 @@ kill %1

 ### Core System Components
 - Robot Description (URDF/TF tree)
-<<<<<<< HEAD
- ESP32 Serial Bridge
-=======
- ESP32-S3 Serial Bridge
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
- cmd_vel Bridge  
+- ESP32-S3 Serial Bridge- cmd_vel Bridge  
 - Rosbridge WebSocket

 ### Sensors
@ -129,12 +124,7 @@ free -h

 ### cmd_vel bridge not responding
 ```bash
-<<<<<<< HEAD
-# Verify ESP32 bridge is running first
-=======
-# Verify ESP32-S3 bridge is running first
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-ros2 node list | grep bridge
+# Verify ESP32-S3 bridge is running firstros2 node list | grep bridge

 # Check serial port
 ls -l /dev/esp32-bridge
--- a/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml
@ -3,5 +3,5 @@ can_bridge_node:
    can_interface: slcan0
    left_vesc_can_id: 56
    right_vesc_can_id: 68
-    mamba_can_id: 1
+    balance_can_id: 1
    command_timeout_s: 0.5
--- 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
@ -6,13 +6,13 @@ and VESC telemetry.
 CAN message layout
 ------------------
 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
+  BALANCE_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
+  BALANCE_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
+  BALANCE_CMD_ESTOP     0x102  1 byte   0x01 = stop

 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)
+  BALANCE_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
+  BALANCE_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)

 VESC telemetry frame (VESC → Orin):
  VESC_TELEM_STATE    0x300  16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32)
@ -30,12 +30,12 @@ from typing import Tuple
 # CAN message IDs
 # ---------------------------------------------------------------------------

-MAMBA_CMD_VELOCITY: int = 0x100
-MAMBA_CMD_MODE: int = 0x101
-MAMBA_CMD_ESTOP: int = 0x102
+BALANCE_CMD_VELOCITY: int = 0x100
+BALANCE_CMD_MODE: int = 0x101
+BALANCE_CMD_ESTOP: int = 0x102

-MAMBA_TELEM_IMU: int = 0x200
-MAMBA_TELEM_BATTERY: int = 0x201
+BALANCE_TELEM_IMU: int = 0x200
+BALANCE_TELEM_BATTERY: int = 0x201

 VESC_TELEM_STATE: int = 0x300
 ORIN_CAN_ID_PID_SET: int = 0x305
@ -56,7 +56,7 @@ MODE_ESTOP: int = 2

@dataclass
 class ImuTelemetry:
-    """Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU)."""
+    """Decoded IMU telemetry from ESP32-S3 BALANCE (BALANCE_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 ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY)."""
+    """Decoded battery telemetry from ESP32-S3 BALANCE (BALANCE_TELEM_BATTERY)."""

    voltage: float = 0.0   # V
    current: float = 0.0   # A
@ -106,7 +106,7 @@ _FMT_VESC = ">ffff"    # 4 × float32

 def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
    """
-    Encode a MAMBA_CMD_VELOCITY payload.
+    Encode a BALANCE_CMD_VELOCITY payload.

    Parameters
    ----------
@ -122,7 +122,7 @@ def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:

 def encode_mode_cmd(mode: int) -> bytes:
    """
-    Encode a MAMBA_CMD_MODE payload.
+    Encode a BALANCE_CMD_MODE payload.

    Parameters
    ----------
@ -139,7 +139,7 @@ def encode_mode_cmd(mode: int) -> bytes:

 def encode_estop_cmd(stop: bool = True) -> bytes:
    """
-    Encode a MAMBA_CMD_ESTOP payload.
+    Encode a BALANCE_CMD_ESTOP payload.

    Parameters
    ----------
@ -165,7 +165,7 @@ def encode_pid_set_cmd(kp: float, ki: float, kd: float) -> bytes:

 def decode_imu_telem(data: bytes) -> ImuTelemetry:
    """
-    Decode a MAMBA_TELEM_IMU payload.
+    Decode a BALANCE_TELEM_IMU payload.

    Parameters
    ----------
@ -188,7 +188,7 @@ def decode_imu_telem(data: bytes) -> ImuTelemetry:

 def decode_battery_telem(data: bytes) -> BatteryTelemetry:
    """
-    Decode a MAMBA_TELEM_BATTERY payload.
+    Decode a BALANCE_TELEM_BATTERY payload.

    Parameters
    ----------
--- 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
@ -39,22 +39,22 @@ from sensor_msgs.msg import BatteryState
 from std_msgs.msg import Bool, Float32MultiArray, String

 from saltybot_can_bridge.balance_protocol import (
-    MAMBA_CMD_ESTOP,
-    MAMBA_CMD_MODE,
-    MAMBA_CMD_VELOCITY,
-    MAMBA_TELEM_BATTERY,
-    MAMBA_TELEM_IMU,
+    BALANCE_CMD_ESTOP,
+    BALANCE_CMD_MODE,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_TELEM_BATTERY,
+    BALANCE_TELEM_IMU,
    VESC_TELEM_STATE,
    ORIN_CAN_ID_FC_PID_ACK,
    ORIN_CAN_ID_PID_SET,
    MODE_DRIVE,
    MODE_IDLE,
-    encode_drive_cmd,
-    encode_arm_cmd,
+    encode_velocity_cmd,
+    encode_mode_cmd,
    encode_estop_cmd,
-    decode_attitude,
-    decode_battery,
-    decode_vesc_status1,
+    decode_imu_telem,
+    decode_battery_telem,
+    decode_vesc_state,
 )

 # Reconnect attempt interval when CAN bus is lost
@ -179,10 +179,10 @@ class CanBridgeNode(Node):
        right_mps = linear + angular

        payload = encode_velocity_cmd(left_mps, right_mps)
-        self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
+        self._send_can(BALANCE_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")
+        self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")

    def _estop_cb(self, msg: Bool) -> None:
        """Forward /estop to ESP32-S3 BALANCE over CAN."""
@ -190,7 +190,7 @@ class CanBridgeNode(Node):
            return
        if msg.data:
            self._send_can(
-                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
+                BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
            )
            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")

@ -201,7 +201,8 @@ class CanBridgeNode(Node):
        if not self._connected:
            return
        if time.monotonic() - self._last_cmd_time > self._cmd_timeout:
-            self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "watchdog")
+            self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "watchdog")
+            self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog mode")

    # ── CAN send helper ───────────────────────────────────────────────────

@ -236,25 +237,28 @@ class CanBridgeNode(Node):
                continue
            self._dispatch_frame(frame)

+    # VESC STATUS packet type = 9 (upper byte of extended arb_id)
+    _VESC_STATUS_PKT: int = 9
+
    def _dispatch_frame(self, frame: can.Message) -> None:
        arb_id = frame.arbitration_id
        data   = bytes(frame.data)
-        vesc_l = (VESC_STATUS_1 << 8) | self._left_vesc_id
-        vesc_r = (VESC_STATUS_1 << 8) | self._right_vesc_id
+        vesc_l = (self._VESC_STATUS_PKT << 8) | self._left_vesc_id
+        vesc_r = (self._VESC_STATUS_PKT << 8) | self._right_vesc_id
        try:
-            if arb_id == ESP32_TELEM_ATTITUDE:
-                self._handle_attitude(data)
-            elif arb_id == ESP32_TELEM_BATTERY:
+            if arb_id == BALANCE_TELEM_IMU:
+                self._handle_imu(data)
+            elif arb_id == BALANCE_TELEM_BATTERY:
                self._handle_battery(data)
            elif arb_id == vesc_l:
-                t = decode_vesc_status1(self._left_vesc_id, data)
+                t = decode_vesc_state(data)
                m = Float32MultiArray()
-                m.data = [t.erpm, t.duty, 0.0, t.current]
+                m.data = [t.erpm, t.duty, t.voltage, t.current]
                self._pub_vesc_left.publish(m)
            elif arb_id == vesc_r:
-                t = decode_vesc_status1(self._right_vesc_id, data)
+                t = decode_vesc_state(data)
                m = Float32MultiArray()
-                m.data = [t.erpm, t.duty, 0.0, t.current]
+                m.data = [t.erpm, t.duty, t.voltage, t.current]
                self._pub_vesc_right.publish(m)
        except Exception as exc:
            self.get_logger().warning(
@ -263,20 +267,18 @@ class CanBridgeNode(Node):

    # ── Frame handlers ────────────────────────────────────────────────────

-    _STATE_LABEL = {0: "IDLE", 1: "RUNNING", 2: "FAULT"}
-
-    def _handle_attitude(self, data: bytes) -> None:
-        """ATTITUDE (0x400): pitch, speed, yaw_rate, state, flags → /saltybot/attitude."""
-        t = decode_attitude(data)
+    def _handle_imu(self, data: bytes) -> None:
+        """BALANCE_TELEM_IMU (0x200): accel + gyro → /saltybot/attitude."""
+        t = decode_imu_telem(data)
        now = self.get_clock().now().to_msg()
        payload = {
-            "pitch_deg":  round(t.pitch_deg, 2),
-            "speed_mps":  round(t.speed, 3),
-            "yaw_rate":   round(t.yaw_rate, 3),
-            "state":      t.state,
-            "state_label": self._STATE_LABEL.get(t.state, f"UNKNOWN({t.state})"),
-            "flags":      t.flags,
-            "ts":         f"{now.sec}.{now.nanosec:09d}",
+            "accel_x": round(t.accel_x, 4),
+            "accel_y": round(t.accel_y, 4),
+            "accel_z": round(t.accel_z, 4),
+            "gyro_x":  round(t.gyro_x, 4),
+            "gyro_y":  round(t.gyro_y, 4),
+            "gyro_z":  round(t.gyro_z, 4),
+            "ts":      f"{now.sec}.{now.nanosec:09d}",
        }
        msg = String()
        msg.data = json.dumps(payload)
@ -284,11 +286,12 @@ class CanBridgeNode(Node):
        self._pub_balance.publish(msg)   # keep /saltybot/balance_state alive

    def _handle_battery(self, data: bytes) -> None:
-        """BATTERY (0x401): vbat_mv, fault_code, rssi → /can/battery."""
-        t = decode_battery(data)
+        """BALANCE_TELEM_BATTERY (0x201): voltage + current → /can/battery."""
+        t = decode_battery_telem(data)
        msg = BatteryState()
        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.voltage = t.vbat_mv / 1000.0
+        msg.voltage = t.voltage
+        msg.current = t.current
        msg.present = True
        msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
        self._pub_battery.publish(msg)
@ -305,8 +308,9 @@ class CanBridgeNode(Node):
    def destroy_node(self) -> None:
        if self._connected and self._bus is not None:
            try:
-                self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "shutdown")
-                self._send_can(ORIN_CMD_ARM,   encode_arm_cmd(False), "shutdown")
+                # Send zero velocity and idle mode on shutdown
+                self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "shutdown")
+                self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown")
            except Exception:
                pass
            try:
--- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
@ -15,12 +15,7 @@ setup(
    zip_safe=True,
    maintainer="sl-controls",
    maintainer_email="sl-controls@saltylab.local",
-<<<<<<< HEAD
-    description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
-=======
-    description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    license="MIT",
+    description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",    license="MIT",
    tests_require=["pytest"],
    entry_points={
        "console_scripts": [
--- 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
@ -12,11 +12,11 @@ import struct
 import unittest

 from saltybot_can_bridge.balance_protocol import (
-    MAMBA_CMD_ESTOP,
-    MAMBA_CMD_MODE,
-    MAMBA_CMD_VELOCITY,
-    MAMBA_TELEM_BATTERY,
-    MAMBA_TELEM_IMU,
+    BALANCE_CMD_ESTOP,
+    BALANCE_CMD_MODE,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_TELEM_BATTERY,
+    BALANCE_TELEM_IMU,
    VESC_TELEM_STATE,
    MODE_DRIVE,
    MODE_ESTOP,
@ -37,13 +37,13 @@ class TestMessageIDs(unittest.TestCase):
    """Verify the CAN message ID constants are correct."""

    def test_command_ids(self):
-        self.assertEqual(MAMBA_CMD_VELOCITY, 0x100)
-        self.assertEqual(MAMBA_CMD_MODE, 0x101)
-        self.assertEqual(MAMBA_CMD_ESTOP, 0x102)
+        self.assertEqual(BALANCE_CMD_VELOCITY, 0x100)
+        self.assertEqual(BALANCE_CMD_MODE, 0x101)
+        self.assertEqual(BALANCE_CMD_ESTOP, 0x102)

    def test_telemetry_ids(self):
-        self.assertEqual(MAMBA_TELEM_IMU, 0x200)
-        self.assertEqual(MAMBA_TELEM_BATTERY, 0x201)
+        self.assertEqual(BALANCE_TELEM_IMU, 0x200)
+        self.assertEqual(BALANCE_TELEM_BATTERY, 0x201)
        self.assertEqual(VESC_TELEM_STATE, 0x300)


--- 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
@ -4,42 +4,39 @@ protocol_defs.py — CAN message ID constants and frame builders/parsers for the
 Orin↔ESP32-S3 BALANCE↔VESC integration test suite.

 All IDs and payload formats are derived from:
-  include/orin_can.h   — Orin↔FC (ESP32-S3 BALANCE) protocol
+  include/orin_can.h   — Orin↔BALANCE (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-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
+Orin → BALANCE (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_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-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
+BALANCE (ESP32-S3 BALANCE) -> Orin telemetry (standard 11-bit, matching orin_can.h):
+  BALANCE_STATUS      0x400    8 bytes (see orin_can_balance_status_t)
+  BALANCE_VESC        0x401    8 bytes (see orin_can_balance_vesc_t)
+  BALANCE_IMU         0x402    8 bytes
+  BALANCE_BARO        0x403    8 bytes

-Mamba ↔ VESC internal commands (matching balance_protocol.py):
-=======
-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
+ESP32-S3 BALANCE <-> VESC internal commands (matching balance_protocol.py):
+  BALANCE_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
+  BALANCE_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
+  BALANCE_CMD_ESTOP     0x102    1 byte   0x01=stop

 VESC STATUS (extended 29-bit, matching vesc_can.h):
  arb_id = (VESC_PKT_STATUS << 8) | vesc_node_id  = (9 << 8) | node_id
-  Payload: int32 RPM (BE), int16 current×10 (BE), int16 duty×1000 (BE)
+  Payload: int32 RPM (BE), int16 current x10 (BE), int16 duty x1000 (BE)
 """

 import struct
 from typing import Tuple

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

 ORIN_CMD_HEARTBEAT: int = 0x300
@ -48,28 +45,25 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303

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

-FC_STATUS: int = 0x400
-FC_VESC: int   = 0x401
-FC_IMU: int    = 0x402
-FC_BARO: int   = 0x403
+BALANCE_STATUS: int = 0x400
+BALANCE_VESC: int   = 0x401
+BALANCE_IMU: int    = 0x402
+BALANCE_BARO: int   = 0x403

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

-MAMBA_CMD_VELOCITY: int = 0x100
-MAMBA_CMD_MODE: int     = 0x101
-MAMBA_CMD_ESTOP: int    = 0x102
+BALANCE_CMD_VELOCITY: int = 0x100
+BALANCE_CMD_MODE: int     = 0x101
+BALANCE_CMD_ESTOP: int    = 0x102

-MAMBA_TELEM_IMU: int     = 0x200
-MAMBA_TELEM_BATTERY: int = 0x201
-VESC_TELEM_STATE: int    = 0x300
+BALANCE_TELEM_IMU: int     = 0x200
+BALANCE_TELEM_BATTERY: int = 0x201
+VESC_TELEM_STATE: int      = 0x300

 # ---------------------------------------------------------------------------
 # Mode constants
@ -111,7 +105,7 @@ def VESC_SET_RPM_ID(vesc_node_id: int) -> int:


 # ---------------------------------------------------------------------------
-# Frame builders — Orin → FC
+# Frame builders — Orin -> BALANCE
 # ---------------------------------------------------------------------------

 def build_heartbeat(seq: int = 0) -> bytes:
@ -125,8 +119,8 @@ def build_drive_cmd(speed: int, steer: int) -> bytes:

    Parameters
    ----------
-    speed: int, −1000..+1000  (mapped directly to int16)
-    steer: int, −1000..+1000
+    speed: int, -1000..+1000  (mapped directly to int16)
+    steer: int, -1000..+1000
    """
    return struct.pack(">hh", int(speed), int(steer))

@ -137,20 +131,17 @@ def build_mode_cmd(mode: int) -> bytes:


 def build_estop_cmd(action: int = 1) -> bytes:
-    """Build an ORIN_CMD_ESTOP payload.  action=1 → ESTOP, 0 → CLEAR."""
+    """Build an ORIN_CMD_ESTOP payload.  action=1 -> ESTOP, 0 -> CLEAR."""
    return struct.pack(">B", action & 0xFF)


 # ---------------------------------------------------------------------------
-# Frame builders — Mamba velocity commands (balance_protocol.py encoding)
-=======
 # 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:
    """
-    Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
+    Build a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian).

    Matches encode_velocity_cmd() in balance_protocol.py.
    """
@ -158,10 +149,10 @@ def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:


 # ---------------------------------------------------------------------------
-# Frame builders — FC → Orin telemetry
+# Frame builders — BALANCE -> Orin telemetry
 # ---------------------------------------------------------------------------

-def build_fc_status(
+def build_balance_status(
    pitch_x10: int = 0,
    motor_cmd: int = 0,
    vbat_mv: int = 24000,
@ -169,9 +160,9 @@ def build_fc_status(
    flags: int = 0,
 ) -> bytes:
    """
-    Build an FC_STATUS (0x400) payload.
+    Build a BALANCE_STATUS (0x400) payload.

-    Layout (orin_can_fc_status_t, 8 bytes, big-endian):
+    Layout (orin_can_balance_status_t, 8 bytes, big-endian):
      int16  pitch_x10
      int16  motor_cmd
      uint16 vbat_mv
@ -188,23 +179,23 @@ def build_fc_status(
    )


-def build_fc_vesc(
+def build_balance_vesc(
    left_rpm_x10: int = 0,
    right_rpm_x10: int = 0,
    left_current_x10: int = 0,
    right_current_x10: int = 0,
 ) -> bytes:
    """
-    Build an FC_VESC (0x401) payload.
+    Build a BALANCE_VESC (0x401) payload.

-    Layout (orin_can_fc_vesc_t, 8 bytes, big-endian):
+    Layout (orin_can_balance_vesc_t, 8 bytes, big-endian):
      int16 left_rpm_x10
      int16 right_rpm_x10
      int16 left_current_x10
      int16 right_current_x10

-    RPM values are RPM / 10 (e.g. 3000 RPM → 300).
-    Current values are A × 10 (e.g. 5.5 A → 55).
+    RPM values are RPM / 10 (e.g. 3000 RPM -> 300).
+    Current values are A x 10 (e.g. 5.5 A -> 55).
    """
    return struct.pack(
        ">hhhh",
@ -225,8 +216,8 @@ def build_vesc_status(

    Layout (from vesc_can.h / VESC FW 6.x, big-endian):
      int32 rpm
-      int16 current × 10
-      int16 duty × 1000
+      int16 current x 10
+      int16 duty x 1000
    Total: 8 bytes.
    """
    return struct.pack(
@ -241,9 +232,9 @@ def build_vesc_status(
 # Frame parsers
 # ---------------------------------------------------------------------------

-def parse_fc_status(data: bytes):
+def parse_balance_status(data: bytes):
    """
-    Parse an FC_STATUS (0x400) payload.
+    Parse a BALANCE_STATUS (0x400) payload.

    Returns
    -------
@ -251,7 +242,7 @@ def parse_fc_status(data: bytes):
                    estop_active (bool), armed (bool)
    """
    if len(data) < 8:
-        raise ValueError(f"FC_STATUS needs 8 bytes, got {len(data)}")
+        raise ValueError(f"BALANCE_STATUS needs 8 bytes, got {len(data)}")
    pitch_x10, motor_cmd, vbat_mv, balance_state, flags = struct.unpack(
        ">hhHBB", data[:8]
    )
@ -266,9 +257,9 @@ def parse_fc_status(data: bytes):
    }


-def parse_fc_vesc(data: bytes):
+def parse_balance_vesc(data: bytes):
    """
-    Parse an FC_VESC (0x401) payload.
+    Parse a BALANCE_VESC (0x401) payload.

    Returns
    -------
@ -276,7 +267,7 @@ def parse_fc_vesc(data: bytes):
                    right_current_x10, left_rpm (float), right_rpm (float)
    """
    if len(data) < 8:
-        raise ValueError(f"FC_VESC needs 8 bytes, got {len(data)}")
+        raise ValueError(f"BALANCE_VESC needs 8 bytes, got {len(data)}")
    left_rpm_x10, right_rpm_x10, left_cur_x10, right_cur_x10 = struct.unpack(
        ">hhhh", data[:8]
    )
@ -312,12 +303,12 @@ def parse_vesc_status(data: bytes):

 def parse_velocity_cmd(data: bytes) -> Tuple[float, float]:
    """
-    Parse a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
+    Parse a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian).

    Returns
    -------
    (left_mps, right_mps)
    """
    if len(data) < 8:
-        raise ValueError(f"MAMBA_CMD_VELOCITY needs 8 bytes, got {len(data)}")
+        raise ValueError(f"BALANCE_CMD_VELOCITY needs 8 bytes, got {len(data)}")
    return struct.unpack(">ff", data[:8])
--- 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
@ -4,7 +4,7 @@ test_drive_command.py — Integration tests for the drive command path.

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

 All tests run without real hardware or a running ROS2 system.
 Run with: python -m pytest test/test_drive_command.py -v
@ -14,19 +14,19 @@ import struct
 import pytest

 from saltybot_can_e2e_test.protocol_defs import (
-    MAMBA_CMD_VELOCITY,
-    MAMBA_CMD_MODE,
-    FC_VESC,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_CMD_MODE,
+    BALANCE_VESC,
    MODE_DRIVE,
    MODE_IDLE,
    VESC_CAN_ID_LEFT,
    VESC_CAN_ID_RIGHT,
    VESC_STATUS_ID,
    build_velocity_cmd,
-    build_fc_vesc,
+    build_balance_vesc,
    build_vesc_status,
    parse_velocity_cmd,
-    parse_fc_vesc,
+    parse_balance_vesc,
 )
 from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
@ -50,8 +50,8 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
            self.data = bytearray(data)
            self.is_extended_id = False

-    bus.send(_Msg(MAMBA_CMD_VELOCITY, payload))
-    bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
+    bus.send(_Msg(BALANCE_CMD_VELOCITY, payload))
+    bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))


 # ---------------------------------------------------------------------------
@ -62,11 +62,11 @@ 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-S3 BALANCE receives
-        a MAMBA_CMD_VELOCITY frame with correct payload.
+        a BALANCE_CMD_VELOCITY frame with correct payload.
        """
        _send_drive(mock_can_bus, 1.0, 1.0)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1, "Expected exactly one velocity command frame"

        left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
@ -77,26 +77,26 @@ class TestDriveForward:
        """After a drive command, a MODE=drive frame must accompany it."""
        _send_drive(mock_can_bus, 1.0, 1.0)

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert len(mode_frames) >= 1, "Expected at least one MODE frame"
        assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])

    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-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.)
-        This test checks the FC_VESC frame format and parser.
+        Simulate BALANCE_VESC broadcast arriving after drive cmd; verify parse is correct.
+        (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts BALANCE_VESC.)
+        This test checks the BALANCE_VESC frame format and parser.
        """
        # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
-        fc_payload = build_fc_vesc(
+        fc_payload = build_balance_vesc(
            left_rpm_x10=300, right_rpm_x10=300,
            left_current_x10=50, right_current_x10=50,
        )
-        mock_can_bus.inject(FC_VESC, fc_payload)
+        mock_can_bus.inject(BALANCE_VESC, fc_payload)

        frame = mock_can_bus.recv(timeout=0.1)
-        assert frame is not None, "FC_VESC frame not received"
-        parsed = parse_fc_vesc(bytes(frame.data))
+        assert frame is not None, "BALANCE_VESC frame not received"
+        parsed = parse_balance_vesc(bytes(frame.data))
        assert parsed["left_rpm_x10"] == 300
        assert parsed["right_rpm_x10"] == 300
        assert abs(parsed["left_rpm"] - 3000.0) < 0.1
@ -109,7 +109,7 @@ class TestDriveTurn:
        """
        _send_drive(mock_can_bus, 0.5, -0.5)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1

        left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
@ -119,14 +119,14 @@ class TestDriveTurn:
        assert left > 0 and right < 0

    def test_drive_turn_fc_vesc_differential(self, mock_can_bus):
-        """Simulated FC_VESC for a turn has opposite-sign RPMs."""
-        fc_payload = build_fc_vesc(
+        """Simulated BALANCE_VESC for a turn has opposite-sign RPMs."""
+        fc_payload = build_balance_vesc(
            left_rpm_x10=150, right_rpm_x10=-150,
            left_current_x10=30, right_current_x10=30,
        )
-        mock_can_bus.inject(FC_VESC, fc_payload)
+        mock_can_bus.inject(BALANCE_VESC, fc_payload)
        frame = mock_can_bus.recv(timeout=0.1)
-        parsed = parse_fc_vesc(bytes(frame.data))
+        parsed = parse_balance_vesc(bytes(frame.data))
        assert parsed["left_rpm_x10"] > 0
        assert parsed["right_rpm_x10"] < 0

@ -142,7 +142,7 @@ class TestDriveZero:

        _send_drive(mock_can_bus, 0.0, 0.0)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1
        left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
        assert abs(left) < 1e-5,  "Left motor not stopped"
@ -156,7 +156,7 @@ class TestDriveCmdTimeout:
        zero velocity is sent.  We test the encoding directly (without timers).
        """
        # The watchdog in CanBridgeNode calls encode_velocity_cmd(0.0, 0.0) and
-        # sends it on MAMBA_CMD_VELOCITY.  Replicate that here.
+        # sends it on BALANCE_CMD_VELOCITY.  Replicate that here.
        zero_payload = encode_velocity_cmd(0.0, 0.0)

        class _Msg:
@ -165,16 +165,16 @@ class TestDriveCmdTimeout:
                self.data = bytearray(data)
                self.is_extended_id = False

-        mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, zero_payload))
-        mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
+        mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, zero_payload))
+        mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE)))

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1
        left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
        assert abs(left) < 1e-5
        assert abs(right) < 1e-5

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert len(mode_frames) == 1
        assert bytes(mode_frames[0].data) == bytes([MODE_IDLE])

--- 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
@ -6,7 +6,7 @@ Covers:
  - ESTOP command halts motors immediately
  - ESTOP persists: DRIVE commands ignored while ESTOP is active
  - ESTOP clear restores normal drive operation
-  - Firmware-side estop via FC_STATUS flags is detected correctly
+  - Firmware-side estop via BALANCE_STATUS flags is detected correctly

 No ROS2 or real CAN hardware required.
 Run with: python -m pytest test/test_estop.py -v
@ -17,20 +17,20 @@ import pytest

 from saltybot_can_e2e_test.can_mock import MockCANBus
 from saltybot_can_e2e_test.protocol_defs import (
-    MAMBA_CMD_VELOCITY,
-    MAMBA_CMD_MODE,
-    MAMBA_CMD_ESTOP,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_CMD_MODE,
+    BALANCE_CMD_ESTOP,
    ORIN_CMD_ESTOP,
-    FC_STATUS,
+    BALANCE_STATUS,
    MODE_IDLE,
    MODE_DRIVE,
    MODE_ESTOP,
    build_estop_cmd,
    build_mode_cmd,
    build_velocity_cmd,
-    build_fc_status,
+    build_balance_status,
    parse_velocity_cmd,
-    parse_fc_status,
+    parse_balance_status,
 )
 from saltybot_can_bridge.balance_protocol import (
    encode_velocity_cmd,
@ -68,16 +68,16 @@ class EstopStateMachine:
        """Send ESTOP and transition to estop mode."""
        self._estop_active = True
        self._mode = MODE_ESTOP
-        self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
-        self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
-        self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
+        self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
+        self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
+        self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))

    def clear_estop(self) -> None:
        """Clear ESTOP and return to IDLE mode."""
        self._estop_active = False
        self._mode = MODE_IDLE
-        self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
-        self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
+        self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False)))
+        self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE)))

    def send_drive(self, left_mps: float, right_mps: float) -> None:
        """Send velocity command only if ESTOP is not active."""
@ -85,8 +85,8 @@ class EstopStateMachine:
            # Bridge silently drops commands while estopped
            return
        self._mode = MODE_DRIVE
-        self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
-        self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
+        self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
+        self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))

    @property
    def estop_active(self) -> bool:
@ -105,7 +105,7 @@ class TestEstopHaltsMotors:
        sm = EstopStateMachine(mock_can_bus)
        sm.assert_estop()

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) >= 1, "No velocity frame after ESTOP"
        l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
        assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
@ -116,17 +116,17 @@ class TestEstopHaltsMotors:
        sm = EstopStateMachine(mock_can_bus)
        sm.assert_estop()

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert any(
            bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
        ), "MODE=ESTOP not found in sent frames"

    def test_estop_flag_byte_is_0x01(self, mock_can_bus):
-        """MAMBA_CMD_ESTOP payload must be 0x01 when asserting e-stop."""
+        """BALANCE_CMD_ESTOP payload must be 0x01 when asserting e-stop."""
        sm = EstopStateMachine(mock_can_bus)
        sm.assert_estop()

-        estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
+        estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
        assert len(estop_frames) >= 1
        assert bytes(estop_frames[-1].data) == b"\x01", \
            f"ESTOP payload {estop_frames[-1].data!r} != 0x01"
@ -143,7 +143,7 @@ class TestEstopPersists:

        sm.send_drive(1.0, 1.0)   # should be suppressed

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 0, \
            "Velocity command was forwarded while ESTOP is active"

@ -158,7 +158,7 @@ class TestEstopPersists:
        sm.send_drive(0.5, 0.5)

        # No mode frames should have been emitted (drive was suppressed)
-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert all(
            bytes(f.data) != bytes([MODE_DRIVE]) for f in mode_frames
        ), "MODE=DRIVE was set despite active ESTOP"
@ -174,19 +174,19 @@ class TestEstopClear:

        sm.send_drive(0.8, 0.8)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1, "Velocity command not sent after ESTOP clear"
        l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
        assert abs(l - 0.8) < 1e-4
        assert abs(r - 0.8) < 1e-4

    def test_estop_clear_flag_byte_is_0x00(self, mock_can_bus):
-        """MAMBA_CMD_ESTOP payload must be 0x00 when clearing e-stop."""
+        """BALANCE_CMD_ESTOP payload must be 0x00 when clearing e-stop."""
        sm = EstopStateMachine(mock_can_bus)
        sm.assert_estop()
        sm.clear_estop()

-        estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
+        estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
        assert len(estop_frames) >= 2
        # Last ESTOP frame should be the clear
        assert bytes(estop_frames[-1].data) == b"\x00", \
@ -198,7 +198,7 @@ class TestEstopClear:
        sm.assert_estop()
        sm.clear_estop()

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        last_mode = bytes(mode_frames[-1].data)
        assert last_mode == bytes([MODE_IDLE]), \
            f"Mode after ESTOP clear is {last_mode!r}, expected MODE_IDLE"
@ -207,55 +207,55 @@ class TestEstopClear:
 class TestFirmwareSideEstop:
    def test_fc_status_estop_flag_detected(self, mock_can_bus):
        """
-        Simulate firmware sending estop via FC_STATUS flags (bit0=estop_active).
+        Simulate firmware sending estop via BALANCE_STATUS flags (bit0=estop_active).
        Verify the Orin bridge side correctly parses the flag.
        """
-        # Build FC_STATUS with estop_active bit set (flags=0x01)
-        payload = build_fc_status(
+        # Build BALANCE_STATUS with estop_active bit set (flags=0x01)
+        payload = build_balance_status(
            pitch_x10=0,
            motor_cmd=0,
            vbat_mv=24000,
            balance_state=2,   # TILT_FAULT
            flags=0x01,        # bit0 = estop_active
        )
-        mock_can_bus.inject(FC_STATUS, payload)
+        mock_can_bus.inject(BALANCE_STATUS, payload)

        frame = mock_can_bus.recv(timeout=0.1)
-        assert frame is not None, "FC_STATUS frame not received"
-        parsed = parse_fc_status(bytes(frame.data))
+        assert frame is not None, "BALANCE_STATUS frame not received"
+        parsed = parse_balance_status(bytes(frame.data))
        assert parsed["estop_active"] is True, \
-            "estop_active flag not set in FC_STATUS"
+            "estop_active flag not set in BALANCE_STATUS"
        assert parsed["balance_state"] == 2

    def test_fc_status_no_estop_flag(self, mock_can_bus):
-        """FC_STATUS with flags=0x00 must NOT set estop_active."""
-        payload = build_fc_status(flags=0x00)
-        mock_can_bus.inject(FC_STATUS, payload)
+        """BALANCE_STATUS with flags=0x00 must NOT set estop_active."""
+        payload = build_balance_status(flags=0x00)
+        mock_can_bus.inject(BALANCE_STATUS, payload)
        frame = mock_can_bus.recv(timeout=0.1)
-        parsed = parse_fc_status(bytes(frame.data))
+        parsed = parse_balance_status(bytes(frame.data))
        assert parsed["estop_active"] is False

    def test_fc_status_armed_flag_detected(self, mock_can_bus):
-        """FC_STATUS flags bit1=armed must parse correctly."""
-        payload = build_fc_status(flags=0x02)  # bit1 = armed
-        mock_can_bus.inject(FC_STATUS, payload)
+        """BALANCE_STATUS flags bit1=armed must parse correctly."""
+        payload = build_balance_status(flags=0x02)  # bit1 = armed
+        mock_can_bus.inject(BALANCE_STATUS, payload)
        frame = mock_can_bus.recv(timeout=0.1)
-        parsed = parse_fc_status(bytes(frame.data))
+        parsed = parse_balance_status(bytes(frame.data))
        assert parsed["armed"] is True
        assert parsed["estop_active"] is False

    def test_fc_status_roundtrip(self, mock_can_bus):
-        """build_fc_status → inject → recv → parse_fc_status must be identity."""
-        payload = build_fc_status(
+        """build_balance_status → inject → recv → parse_balance_status must be identity."""
+        payload = build_balance_status(
            pitch_x10=150,
            motor_cmd=-200,
            vbat_mv=23800,
            balance_state=1,
            flags=0x03,
        )
-        mock_can_bus.inject(FC_STATUS, payload)
+        mock_can_bus.inject(BALANCE_STATUS, payload)
        frame = mock_can_bus.recv(timeout=0.1)
-        parsed = parse_fc_status(bytes(frame.data))
+        parsed = parse_balance_status(bytes(frame.data))
        assert parsed["pitch_x10"] == 150
        assert parsed["motor_cmd"] == -200
        assert parsed["vbat_mv"] == 23800
--- 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
@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 """
-test_fc_vesc_broadcast.py — FC_VESC broadcast and VESC STATUS integration tests.
+test_fc_vesc_broadcast.py — BALANCE_VESC broadcast and VESC STATUS integration tests.

 Covers:
-  - VESC STATUS extended frame for left VESC (ID 56) triggers FC_VESC broadcast
-  - Both left (56) and right (68) VESC STATUS combined in FC_VESC
-  - FC_VESC broadcast rate (~10 Hz)
+  - VESC STATUS extended frame for left VESC (ID 56) triggers BALANCE_VESC broadcast
+  - Both left (56) and right (68) VESC STATUS combined in BALANCE_VESC
+  - BALANCE_VESC broadcast rate (~10 Hz)
  - current_x10 scaling matches protocol spec

 No ROS2 or real CAN hardware required.
@ -19,15 +19,15 @@ import pytest

 from saltybot_can_e2e_test.can_mock import MockCANBus
 from saltybot_can_e2e_test.protocol_defs import (
-    FC_VESC,
+    BALANCE_VESC,
    VESC_CAN_ID_LEFT,
    VESC_CAN_ID_RIGHT,
    VESC_STATUS_ID,
    VESC_SET_RPM_ID,
    VESC_TELEM_STATE,
    build_vesc_status,
-    build_fc_vesc,
-    parse_fc_vesc,
+    build_balance_vesc,
+    parse_balance_vesc,
    parse_vesc_status,
 )
 from saltybot_can_bridge.balance_protocol import (
@ -44,8 +44,8 @@ class VescStatusAggregator:
    """
    Simulates the firmware logic that:
      1. Receives VESC STATUS extended frames from left/right VESCs
-      2. Builds an FC_VESC broadcast payload
-      3. Injects the FC_VESC frame onto the mock bus
+      2. Builds an BALANCE_VESC broadcast payload
+      3. Injects the BALANCE_VESC frame onto the mock bus

    This represents the ESP32-S3 BALANCE → Orin telemetry path.
    """
@ -62,7 +62,7 @@ class VescStatusAggregator:
    def process_vesc_status(self, arb_id: int, data: bytes) -> None:
        """
        Process an incoming VESC STATUS frame (extended 29-bit ID).
-        Updates internal state; broadcasts FC_VESC when at least one side is known.
+        Updates internal state; broadcasts BALANCE_VESC when at least one side is known.
        """
        node_id = arb_id & 0xFF
        parsed = parse_vesc_status(data)
@ -77,17 +77,17 @@ class VescStatusAggregator:
            self._right_current_x10 = parsed["current_x10"]
            self._right_seen = True

-        # Broadcast FC_VESC whenever we receive any update
+        # Broadcast BALANCE_VESC whenever we receive any update
        self._broadcast_fc_vesc()

    def _broadcast_fc_vesc(self) -> None:
-        payload = build_fc_vesc(
+        payload = build_balance_vesc(
            left_rpm_x10=self._left_rpm_x10,
            right_rpm_x10=self._right_rpm_x10,
            left_current_x10=self._left_current_x10,
            right_current_x10=self._right_current_x10,
        )
-        self._bus.inject(FC_VESC, payload)
+        self._bus.inject(BALANCE_VESC, payload)


 def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int,
@ -105,7 +105,7 @@ def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int,
 class TestVescStatusToFcVesc:
    def test_left_vesc_status_triggers_broadcast(self, mock_can_bus):
        """
-        Inject VESC STATUS for left VESC (ID 56) → verify FC_VESC contains
+        Inject VESC STATUS for left VESC (ID 56) → verify BALANCE_VESC contains
        the correct left RPM (rpm / 10).
        """
        agg = VescStatusAggregator(mock_can_bus)
@ -116,14 +116,14 @@ class TestVescStatusToFcVesc:
        agg.process_vesc_status(arb_id, payload)

        frame = mock_can_bus.recv(timeout=0.1)
-        assert frame is not None, "No FC_VESC broadcast after left VESC STATUS"
-        parsed = parse_fc_vesc(bytes(frame.data))
+        assert frame is not None, "No BALANCE_VESC broadcast after left VESC STATUS"
+        parsed = parse_balance_vesc(bytes(frame.data))
        assert parsed["left_rpm_x10"] == 300, \
            f"left_rpm_x10 {parsed['left_rpm_x10']} != 300"
        assert abs(parsed["left_rpm"] - 3000.0) < 1.0

    def test_right_vesc_status_triggers_broadcast(self, mock_can_bus):
-        """Inject VESC STATUS for right VESC (ID 68) → verify right RPM in FC_VESC."""
+        """Inject VESC STATUS for right VESC (ID 68) → verify right RPM in BALANCE_VESC."""
        agg = VescStatusAggregator(mock_can_bus)

        arb_id = VESC_STATUS_ID(VESC_CAN_ID_RIGHT)
@ -132,7 +132,7 @@ class TestVescStatusToFcVesc:

        frame = mock_can_bus.recv(timeout=0.1)
        assert frame is not None
-        parsed = parse_fc_vesc(bytes(frame.data))
+        parsed = parse_balance_vesc(bytes(frame.data))
        assert parsed["right_rpm_x10"] == 200

    def test_left_vesc_id_matches_constant(self):
@ -150,7 +150,7 @@ class TestBothVescStatusCombined:
    def test_both_vesc_status_combined_in_fc_vesc(self, mock_can_bus):
        """
        Inject both left (56) and right (68) VESC STATUS frames.
-        Final FC_VESC must contain both RPMs.
+        Final BALANCE_VESC must contain both RPMs.
        """
        agg = VescStatusAggregator(mock_can_bus)

@ -165,7 +165,7 @@ class TestBothVescStatusCombined:
            build_vesc_status(rpm=-1500, current_x10=30),
        )

-        # Drain two FC_VESC frames (one per update), check the latest
+        # Drain two BALANCE_VESC frames (one per update), check the latest
        frames = []
        while True:
            f = mock_can_bus.recv(timeout=0.05)
@ -173,16 +173,16 @@ class TestBothVescStatusCombined:
                break
            frames.append(f)

-        assert len(frames) >= 2, "Expected at least 2 FC_VESC frames"
+        assert len(frames) >= 2, "Expected at least 2 BALANCE_VESC frames"
        # Last frame must have both sides
-        last = parse_fc_vesc(bytes(frames[-1].data))
+        last = parse_balance_vesc(bytes(frames[-1].data))
        assert last["left_rpm_x10"] == 300, \
            f"left_rpm_x10 {last['left_rpm_x10']} != 300"
        assert last["right_rpm_x10"] == -150, \
            f"right_rpm_x10 {last['right_rpm_x10']} != -150"

    def test_both_vesc_currents_combined(self, mock_can_bus):
-        """Both current values must appear in FC_VESC after two STATUS frames."""
+        """Both current values must appear in BALANCE_VESC after two STATUS frames."""
        agg = VescStatusAggregator(mock_can_bus)
        agg.process_vesc_status(
            VESC_STATUS_ID(VESC_CAN_ID_LEFT),
@ -198,7 +198,7 @@ class TestBothVescStatusCombined:
            if f is None:
                break
            frames.append(f)
-        last = parse_fc_vesc(bytes(frames[-1].data))
+        last = parse_balance_vesc(bytes(frames[-1].data))
        assert last["left_current_x10"] == 55
        assert last["right_current_x10"] == 42

@ -206,11 +206,11 @@ class TestBothVescStatusCombined:
 class TestVescBroadcastRate:
    def test_fc_vesc_broadcast_at_10hz(self, mock_can_bus):
        """
-        Simulate FC_VESC broadcasts at ~10 Hz and verify the rate.
+        Simulate BALANCE_VESC broadcasts at ~10 Hz and verify the rate.
        We inject 12 frames over ~120 ms, then verify count and average interval.
        """
-        _FC_VESC_HZ = 10
-        _interval = 1.0 / _FC_VESC_HZ
+        _BALANCE_VESC_HZ = 10
+        _interval = 1.0 / _BALANCE_VESC_HZ

        timestamps = []
        stop_event = threading.Event()
@ -219,8 +219,8 @@ class TestVescBroadcastRate:
            while not stop_event.is_set():
                t = time.monotonic()
                mock_can_bus.inject(
-                    FC_VESC,
-                    build_fc_vesc(100, -100, 30, 30),
+                    BALANCE_VESC,
+                    build_balance_vesc(100, -100, 30, 30),
                    timestamp=t,
                )
                timestamps.append(t)
@ -232,18 +232,18 @@ class TestVescBroadcastRate:
        stop_event.set()
        t.join(timeout=0.2)

-        assert len(timestamps) >= 1, "No FC_VESC broadcasts in 150 ms window"
+        assert len(timestamps) >= 1, "No BALANCE_VESC broadcasts in 150 ms window"

        if len(timestamps) >= 2:
            intervals = [timestamps[i+1] - timestamps[i] for i in range(len(timestamps)-1)]
            avg = sum(intervals) / len(intervals)
            # ±40 ms tolerance for OS scheduling
            assert 0.06 <= avg <= 0.14, \
-                f"FC_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms"
+                f"BALANCE_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms"

    def test_fc_vesc_frame_is_8_bytes(self):
-        """FC_VESC payload must always be exactly 8 bytes."""
-        payload = build_fc_vesc(300, -150, 55, 42)
+        """BALANCE_VESC payload must always be exactly 8 bytes."""
+        payload = build_balance_vesc(300, -150, 55, 42)
        assert len(payload) == 8


@ -267,16 +267,16 @@ class TestVescCurrentScaling:
        assert abs(parsed["current"] - (-3.0)) < 0.01

    def test_fc_vesc_current_x10_roundtrip(self, mock_can_bus):
-        """build_fc_vesc → inject → recv → parse must preserve current_x10."""
-        payload = build_fc_vesc(
+        """build_balance_vesc → inject → recv → parse must preserve current_x10."""
+        payload = build_balance_vesc(
            left_rpm_x10=200,
            right_rpm_x10=200,
            left_current_x10=55,
            right_current_x10=42,
        )
-        mock_can_bus.inject(FC_VESC, payload)
+        mock_can_bus.inject(BALANCE_VESC, payload)
        frame = mock_can_bus.recv(timeout=0.1)
-        parsed = parse_fc_vesc(bytes(frame.data))
+        parsed = parse_balance_vesc(bytes(frame.data))
        assert parsed["left_current_x10"] == 55
        assert parsed["right_current_x10"] == 42

@ -306,7 +306,7 @@ class TestVescCurrentScaling:
        )
        frame = mock_can_bus.recv(timeout=0.05)
        assert frame is not None
-        parsed = parse_fc_vesc(bytes(frame.data))
+        parsed = parse_balance_vesc(bytes(frame.data))
        if vesc_id == VESC_CAN_ID_LEFT:
            assert parsed["left_rpm_x10"] == expected_rpm_x10, \
                f"left_rpm_x10={parsed['left_rpm_x10']} expected {expected_rpm_x10}"
--- 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
@ -21,9 +21,9 @@ from saltybot_can_e2e_test.protocol_defs import (
    ORIN_CMD_HEARTBEAT,
    ORIN_CMD_ESTOP,
    ORIN_CMD_MODE,
-    MAMBA_CMD_VELOCITY,
-    MAMBA_CMD_MODE,
-    MAMBA_CMD_ESTOP,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_CMD_MODE,
+    BALANCE_CMD_ESTOP,
    MODE_IDLE,
    MODE_DRIVE,
    MODE_ESTOP,
@ -100,9 +100,9 @@ def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
            self.data = bytearray(data)
            self.is_extended_id = False

-    bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
-    bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
-    bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
+    bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
+    bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
+    bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))


 # ---------------------------------------------------------------------------
@ -121,25 +121,25 @@ class TestHeartbeatLoss:
        # Simulate bridge detecting timeout and escalating
        _simulate_estop_on_timeout(mock_can_bus)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) >= 1, "Zero velocity not sent after timeout"
        l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
        assert abs(l) < 1e-5, "Left not zero on timeout"
        assert abs(r) < 1e-5, "Right not zero on timeout"

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert any(
            bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
        ), "ESTOP mode not asserted on heartbeat timeout"

-        estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
+        estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
        assert len(estop_frames) >= 1, "ESTOP command not sent"
        assert bytes(estop_frames[0].data) == b"\x01"

    def test_heartbeat_loss_zero_velocity(self, mock_can_bus):
        """Zero velocity frame must appear among sent frames after timeout."""
        _simulate_estop_on_timeout(mock_can_bus)
-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) >= 1
        for f in vel_frames:
            l, r = parse_velocity_cmd(bytes(f.data))
@ -165,20 +165,20 @@ class TestHeartbeatRecovery:
        mock_can_bus.reset()

        # Phase 2: recovery — clear estop, restore drive mode
-        mock_can_bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
-        mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
-        mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5)))
+        mock_can_bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False)))
+        mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
+        mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5)))

-        estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
+        estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
        assert any(bytes(f.data) == b"\x00" for f in estop_frames), \
            "ESTOP clear not sent on recovery"

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert any(
            bytes(f.data) == bytes([MODE_DRIVE]) for f in mode_frames
        ), "DRIVE mode not restored after recovery"

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) >= 1
        l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
        assert abs(l - 0.5) < 1e-4
--- 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
@ -17,9 +17,9 @@ import pytest

 from saltybot_can_e2e_test.can_mock import MockCANBus
 from saltybot_can_e2e_test.protocol_defs import (
-    MAMBA_CMD_VELOCITY,
-    MAMBA_CMD_MODE,
-    MAMBA_CMD_ESTOP,
+    BALANCE_CMD_VELOCITY,
+    BALANCE_CMD_MODE,
+    BALANCE_CMD_ESTOP,
    MODE_IDLE,
    MODE_DRIVE,
    MODE_ESTOP,
@ -64,12 +64,12 @@ class ModeStateMachine:

        prev_mode = self._mode
        self._mode = mode
-        self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(mode)))
+        self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(mode)))

        # Side-effects of entering ESTOP from DRIVE
        if mode == MODE_ESTOP and prev_mode == MODE_DRIVE:
-            self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
-            self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
+            self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
+            self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))

        return True

@ -79,7 +79,7 @@ class ModeStateMachine:
        """
        if self._mode != MODE_DRIVE:
            return False
-        self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
+        self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
        return True

    @property
@ -97,7 +97,7 @@ class TestIdleToDrive:
        sm = ModeStateMachine(mock_can_bus)
        sm.set_mode(MODE_DRIVE)

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert len(mode_frames) == 1
        assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])

@ -108,7 +108,7 @@ class TestIdleToDrive:
        forwarded = sm.send_drive(1.0, 1.0)
        assert forwarded is False, "Drive cmd should be blocked in IDLE mode"

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 0

    def test_drive_mode_allows_commands(self, mock_can_bus):
@ -120,7 +120,7 @@ class TestIdleToDrive:
        forwarded = sm.send_drive(0.5, 0.5)
        assert forwarded is True

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 1
        l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
        assert abs(l - 0.5) < 1e-4
@ -137,7 +137,7 @@ class TestDriveToEstop:

        sm.set_mode(MODE_ESTOP)

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) >= 1, "No velocity frame on DRIVE→ESTOP transition"
        l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
        assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
@ -149,7 +149,7 @@ class TestDriveToEstop:
        sm.set_mode(MODE_DRIVE)
        sm.set_mode(MODE_ESTOP)

-        mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
+        mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
        assert any(bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames)

    def test_estop_blocks_subsequent_drive(self, mock_can_bus):
@ -162,7 +162,7 @@ class TestDriveToEstop:
        forwarded = sm.send_drive(1.0, 1.0)
        assert forwarded is False

-        vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
+        vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
        assert len(vel_frames) == 0


--- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
+++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
@ -27,12 +27,7 @@ robot:
  stem_od:     0.0381          # m  STEM_OD = 38.1mm
  stem_height: 1.050           # m  nominal cut length

-<<<<<<< HEAD
-  # ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
-=======
-  # ── FC / IMU (ESP32-S3 BALANCE) ──────────────────────────────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
+  # ── 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
  imu_y:  0.000                # m
--- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md
@ -5,12 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
 ## Features

 ### Startup Checks
-<<<<<<< HEAD
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
-=======
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
- WiFi, GPS, disk space, RAM
+- 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/saltybot_diagnostics/diagnostics_node.py
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
@ -138,12 +138,7 @@ class DiagnosticsNode(Node):
            self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})

    def _check_stm32(self):
-<<<<<<< HEAD
-        self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
-=======
        self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    def _check_servos(self):
        try:
            result = subprocess.run(["i2cdetect", "-y", "1"], capture_output=True, text=True, timeout=2)
--- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
@ -7,12 +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)
-<<<<<<< HEAD
-# applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate.
-=======
-# applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-# Do not run this node without the cmd_vel bridge running on the same robot.
+# 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 ────────────────────────────────────────────────────────────
 # The target distance to maintain behind the person (metres).
@ -74,9 +69,4 @@ 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
-<<<<<<< HEAD
-# The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2).
-=======
-# The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2).
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-follow_enabled:   true
+# 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
@ -28,12 +28,7 @@ State machine

 Safety wiring
 -------------
-<<<<<<< HEAD
-  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate --
-=======
-  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate --
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    this node publishes raw /cmd_vel, the bridge handles hardware safety.
+  * 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
  * Obstacle override: if Nav2 local costmap shows a lethal cell in the forward
--- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
@ -1,11 +1,6 @@
 gimbal_node:
  ros__parameters:
-<<<<<<< HEAD
-    # Serial port connecting to ESP32 BALANCE over JLINK protocol
-=======
-    # Serial port connecting to ESP32-S3 over JLINK protocol
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    serial_port: "/dev/ttyTHS1"
+    # Serial port connecting to ESP32-S3 over JLINK protocol    serial_port: "/dev/ttyTHS1"
    baud_rate: 921600

    # Soft angle limits (degrees, ± from center)
--- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
@ -14,12 +14,7 @@ def generate_launch_description() -> LaunchDescription:
    serial_port_arg = DeclareLaunchArgument(
        "serial_port",
        default_value="/dev/ttyTHS1",
-<<<<<<< HEAD
-        description="JLINK serial port to ESP32 BALANCE",
-=======
-        description="JLINK serial port to ESP32-S3",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-    )
+        description="JLINK serial port to ESP32-S3",    )
    pan_limit_arg = DeclareLaunchArgument(
        "pan_limit_deg",
        default_value="150.0",
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
@ -1,12 +1,7 @@
 #!/usr/bin/env python3
 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).

-<<<<<<< HEAD
-Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE.
-=======
-Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-Implements smooth trapezoidal motion profiles with configurable axis limits.
+Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.Implements smooth trapezoidal motion profiles with configurable axis limits.

 Subscribed topics:
  /saltybot/gimbal/cmd       (geometry_msgs/Vector3)  x=pan_deg, y=tilt_deg, z=speed_deg_s
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
@ -1,25 +1,13 @@
 """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).

-<<<<<<< HEAD
-Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side).
-
-Command type (Jetson → ESP32 BALANCE):
-=======
 Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32-S3 side).

-Command type (Jetson → ESP32-S3):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  0x0B  GIMBAL_POS  — int16 pan_x10 + int16 tilt_x10 + uint16 speed   (6 bytes)
+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)

-<<<<<<< HEAD
-Telemetry type (ESP32 BALANCE → Jetson):
-=======
-Telemetry type (ESP32-S3 → Jetson):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  0x84  GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
+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)

@ -41,14 +29,8 @@ ETX = 0x03

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

-<<<<<<< HEAD
-CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32 BALANCE: set pan/tilt target
-TLM_GIMBAL_STATE = 0x84   # ESP32 BALANCE → Jetson: measured state
-=======
 CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32-S3: set pan/tilt target
 TLM_GIMBAL_STATE = 0x84   # ESP32-S3 → Jetson: measured state
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 # 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))
 _MAX_SPEED_DEGS = 360.0   # degrees/sec at speed_reg=0
--- 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
@ -5,12 +5,7 @@
 #
 # Topic wiring:
 #   /rc/joy                          → mode_switch_node (CRSF channels)
-<<<<<<< HEAD
-#   /saltybot/balance_state          → mode_switch_node (ESP32 BALANCE state)
-=======
-#   /saltybot/balance_state          → mode_switch_node (ESP32-S3 state)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-#   /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
+#   /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
@ -13,12 +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
-<<<<<<< HEAD
-prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL.
-=======
 prevents autonomous commands when the ESP32-S3 is in RC_MANUAL.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 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
@ -6,16 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime.

 Mode vocabulary
 ---------------
-<<<<<<< HEAD
-  "RC"            — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked.
-  "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
-  "AUTO"          — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle.
-=======
  "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"          — ESP32-S3 executing Jetson cmd_vel; RC sticks idle.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  "RAMP_TO_RC"    — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.
+  "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
@ -9,12 +9,7 @@ Inputs
        axes[stick_axes...]   Roll/Pitch/Throttle/Yaw — override detection

  /saltybot/balance_state  (std_msgs/String JSON)
-<<<<<<< HEAD
-      Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode.
-=======
      Parsed for RC link health (field "rc_link") and ESP32-S3 mode.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
  <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
@ -1,14 +1,8 @@
 vesc_can_odometry:
  ros__parameters:
    # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
-<<<<<<< HEAD
-    left_can_id:        56      # left  motor VESC CAN ID (ESP32 BALANCE)
-    right_can_id:       68      # right motor VESC CAN ID (ESP32 BALANCE)
-=======
    left_can_id:        56      # left  motor VESC CAN ID (ESP32-S3 BALANCE)
    right_can_id:       68      # right motor VESC CAN ID (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
    # ── State topic names (must match VESC telemetry publisher) ──────────────
    left_state_topic:   /vesc/left/state
    right_state_topic:  /vesc/right/state
--- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
+++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
@ -12,12 +12,7 @@
 # Hardware:
 #   IMU:  RealSense D435i BMI055 → /imu/data
 #   GPS:  SIM7600X cellular     → /gps/fix  (±2.5 m CEP)
-<<<<<<< HEAD
-#   Odom: ESP32 BALANCE wheel encoders  → /odom
-=======
-#   Odom: ESP32-S3 wheel encoders  → /odom
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-#   RTK:  ZED-F9P (optional)    → /gps/fix  (±2 cm CEP when use_rtk: true)
+#   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 ──────────────────────
 ekf_filter_node_odom:
--- 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
@ -71,12 +71,7 @@ class ParameterServer(Node):
        defs = {
            'hardware': {
                'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
-<<<<<<< HEAD
-                                        'hardware', description='ESP32 bridge serial port'),
-=======
-                                        'hardware', description='ESP32-S3 bridge serial port'),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-                'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
+                                        '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'),
                'timeout': ParamInfo('timeout', 0.05, 'float', 'hardware',
--- 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
@ -370,12 +370,7 @@ class PIDAutotuneNode(Node):
                ser.write(frame_set)
                time.sleep(0.05)   # allow FC to process PID_SET
                ser.write(frame_save)
-<<<<<<< HEAD
-                # Flash erase takes ~1s on ESP32; wait for it
-=======
-                # Flash erase takes ~1s on ESP32-S3; wait for it
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-                time.sleep(1.5)
+                # Flash erase takes ~1s on ESP32-S3; wait for it                time.sleep(1.5)

            self.get_logger().info(
                f"Sent PID_SET+PID_SAVE to FC via {self._jlink_port}: "
--- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
@ -9,12 +9,7 @@
 #
 # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
 # Heading:    D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
-<<<<<<< HEAD
-# Odometry:   ESP32 BALANCE wheel encoders → /odom
-=======
-# Odometry:   ESP32-S3 wheel encoders → /odom
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-# UWB:        /uwb/target (follow-me reference, logged for context)
+# Odometry:   ESP32-S3 wheel encoders → /odom# UWB:        /uwb/target (follow-me reference, logged for context)

 route_recorder:
  ros__parameters:
--- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
+++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
@ -10,12 +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)
-<<<<<<< HEAD
-  ESP32 bridge (/odom from wheel encoders)
-=======
-  ESP32-S3 bridge (/odom from wheel encoders)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-  D435i (/imu/data for heading)
+  ESP32-S3 bridge (/odom from wheel encoders)  D435i (/imu/data for heading)

 Usage — record a route:
  # Set name, start recording, ride with Tee, stop and save:
--- 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
@ -5,12 +5,7 @@ Hardware
 ────────
  SaltyRover: 4-wheel ground robot with individual brushless ESCs.
  ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-<<<<<<< HEAD
-  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
-=======
  Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
  ESC channel assignments (configurable):
    CH1 = left-front
    CH2 = left-rear
--- 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
@ -39,12 +39,6 @@ safety_zone:
    # ── cmd_vel topics ───────────────────────────────────────────────────────
    # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
    # Typical chain:
-<<<<<<< HEAD
-    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE
-    cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
-    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32 bridge)
-=======
    #   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 ESP32-S3 bridge)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32-S3 bridge)
--- a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py
+++ b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py
@ -143,14 +143,7 @@ class SocialEnrollmentNode(Node):
        self.create_timer(0.5, self._enrollment_timeout_check)

        self.get_logger().info(
-<<<<<<< HEAD
-            f'Social enrollment node initialized. '
-            f'Queue: {self.queue_dir}, '
-            f'Speakers: {self.speaker_embeddings_path}'
-=======
-            f'Social enrollment node initialized. Queue: {self.queue_dir}'
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
-        )
+            f'Social enrollment node initialized. Queue: {self.queue_dir}'        )

    def _on_orchestrator_state(self, msg: String) -> None:
        """Handle orchestrator state transitions."""
@ -170,12 +163,6 @@ class SocialEnrollmentNode(Node):
                        context=context,
                        timestamp=time.time()
                    )
-<<<<<<< HEAD
-                    self._face_embedding_timestamp = 0.0
-                    self._voice_embedding_timestamp = 0.0
-                    self._image_timestamp = 0.0
-=======
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment

                self.get_logger().info(
                    f'Enrollment triggered: {name} (ID: {person_id})'
@ -193,24 +180,13 @@ class SocialEnrollmentNode(Node):
            if self._enrollment_request is None:
                return

-<<<<<<< HEAD
-            # Take first detected face embedding
-=======
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
            face_emb = msg.embeddings[0]
            emb_array = np.frombuffer(face_emb.embedding, dtype=np.float32)

            if len(emb_array) == self.face_emb_dim:
                self._latest_face_embedding = emb_array.copy()
                self._face_embedding_timestamp = time.time()
-<<<<<<< HEAD
-                self.get_logger().debug(
-                    f'Face embedding captured: {face_emb.track_id}'
-                )
-=======
                self.get_logger().debug(f'Face embedding captured')
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
-
    def _on_speaker_embedding(self, msg: String) -> None:
        """Capture voice speaker embedding from ECAPA-TDNN."""
        try:
@ -226,14 +202,7 @@ class SocialEnrollmentNode(Node):
                    if len(emb_array) == self.voice_emb_dim:
                        self._latest_voice_embedding = emb_array.copy()
                        self._voice_embedding_timestamp = time.time()
-<<<<<<< HEAD
-                        self.get_logger().debug(
-                            f'Voice embedding captured: {len(emb_array)} dims'
-                        )
-=======
                        self.get_logger().debug(f'Voice embedding captured')
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
-
        except json.JSONDecodeError as e:
            self.get_logger().error(f'Invalid speaker embedding JSON: {e}')

@ -244,10 +213,6 @@ class SocialEnrollmentNode(Node):
                if self._enrollment_request is None:
                    return

-<<<<<<< HEAD
-                # Store latest image
-=======
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
                self._latest_image = msg
                self._image_timestamp = time.time()

@ -261,22 +226,12 @@ class SocialEnrollmentNode(Node):
                return

            now = time.time()
-<<<<<<< HEAD
-            timeout = 10.0  # 10 seconds to collect embeddings
-=======
            timeout = 10.0
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
-
            # Check if all data collected
            has_face = self._latest_face_embedding is not None and \
                      (now - self._face_embedding_timestamp < 5.0)
            has_voice = self._latest_voice_embedding is not None and \
                        (now - self._voice_embedding_timestamp < 5.0)
-<<<<<<< HEAD
-            has_image = self._latest_image is not None and \
-                       (now - self._image_timestamp < 5.0)
-=======
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment

            # If we have face + voice, proceed with enrollment
            if has_face and has_voice:
@ -303,18 +258,7 @@ class SocialEnrollmentNode(Node):
                'context': request.context,
                'timestamp': request.timestamp,
                'datetime': datetime.fromtimestamp(request.timestamp).isoformat(),
-<<<<<<< HEAD
-                'face_embedding_shape': list(self._latest_face_embedding.shape)
-                    if self._latest_face_embedding is not None else None,
-                'voice_embedding_shape': list(self._latest_voice_embedding.shape)
-                    if self._latest_voice_embedding is not None else None,
            }
-
-            # Save queue JSON
-=======
-            }
-
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
            queue_file = self.queue_dir / f"enrollment_{request.person_id}_{int(request.timestamp)}.json"
            with open(queue_file, 'w') as f:
                json.dump(enroll_data, f, indent=2)
@ -418,10 +362,6 @@ class SocialEnrollmentNode(Node):
                )
                return

-<<<<<<< HEAD
-            # Call EnrollPerson service
-=======
->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment
            req = EnrollPerson.Request()
            req.name = request.name
            req.mode = 'face'
--- a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml
+++ b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml
@ -10,12 +10,7 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 #
 # Data flow:
-<<<<<<< HEAD
-#   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
-=======
 #   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 # ── Controller ─────────────────────────────────────────────────────────────────
 control_rate:   50.0           # Hz — 50ms tick, same as cmd_vel_bridge
 input_topic:    /cmd_vel_raw   # Upstream cmd_vel source
@ -87,20 +82,11 @@ ride:
  target_vel_max:   15.0    # m/s  — cap; EUC max ~30 km/h = 8.3 m/s typical

 # ── Notes ─────────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-# 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be
-#    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
-#    at ride speed (slower ramp = smoother balance).
-#
-# 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect
-=======
 # 1. To enable ride profile, the Jetson → ESP32-S3 cmd_vel_bridge must also be
 #    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
 #    at ride speed (slower ramp = smoother balance).
 #
-# 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-#    increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
+# 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect#    increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
 #
 # 3. Test sequence recommendation:
 #    - Validate walk profile on flat indoor surface first
--- a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py
+++ b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py
@ -10,12 +10,7 @@ cmd_vel_bridge with matching limits:
  ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0

 Prerequisite node pipeline:
-<<<<<<< HEAD
-  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
-=======
  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 Usage:
  # Defaults (walk profile initially, adapts via UWB + GPS):
  ros2 launch saltybot_speed_controller outdoor_speed.launch.py
--- a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py
+++ b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py
@ -5,12 +5,7 @@ Hardware
 ────────
  SaltyTank: tracked robot with left/right independent brushless ESCs.
  ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-<<<<<<< HEAD
-  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
-=======
  Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
  ESC channel assignments (configurable):
    CH1 = left-front  (or left-track in 2WD/tracked mode)
    CH2 = left-rear   (mirrored in 2WD/tracked mode)
--- a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py
+++ b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py
@ -298,12 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase):
            rclpy.spin_once(self.node, timeout_sec=0.1)

    def test_01_battery_topic_advertised(self):
-<<<<<<< HEAD
-        """Battery topic must be advertised (from ESP32 bridge)."""
-=======
-        """Battery topic must be advertised (from ESP32-S3 bridge)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        self._spin(5.0)
+        """Battery topic must be advertised (from ESP32-S3 bridge)."""        self._spin(5.0)
        all_topics = {name for name, _ in self.node.get_topic_names_and_types()}

        battery_topics = [
@ -331,12 +326,7 @@ class TestBatteryMonitoring(unittest.TestCase):
        self.node.destroy_subscription(sub)

        if not received:
-<<<<<<< HEAD
-            pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)")
-=======
            pytest.skip("Battery data not publishing (ESP32-S3 bridge may be disabled in test mode)")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-

 class TestDockingServices(unittest.TestCase):
    """Verify autonomous docking services are available."""
--- a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml
@ -1,10 +1,5 @@
 # VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
-<<<<<<< HEAD
-# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2)
-=======
 # SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32-S3 BALANCE CAN2)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 vesc_telemetry:
  ros__parameters:
    # SocketCAN interface name
--- a/projects/saltybot/SLAM-SETUP-PLAN.md
+++ b/projects/saltybot/SLAM-SETUP-PLAN.md
@ -16,12 +16,7 @@
 | Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU |
 | LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz |
 | Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* |
-<<<<<<< HEAD
-| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 |
-=======
 | FC | ESP32-S3 — UART bridge `/dev/ttyACM0` @ 921600 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
 ---

 ## 1. OS & ROS2
@ -80,12 +75,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)
                   ▼
             Nav2 stack            (Phase 2b)
             20Hz costmap
-<<<<<<< HEAD
-             /cmd_vel → ESP32 BALANCE
-=======
             /cmd_vel → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
  4× IMX219 CSI               (Phase 2c — pending hardware)
  front/right/rear/left 160°
  → panoramic stitch, person tracking
--- a/test/test_bno055_data.py
+++ b/test/test_bno055_data.py
@ -4,12 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests.
 Tests data scaling, byte parsing, calibration status extraction,
 calibration offset packing/unpacking, and temperature handling.

-<<<<<<< HEAD
-No HAL or STM32/ESP32 hardware required — pure Python logic.
-=======
-No HAL or ESP32-S3 hardware required — pure Python logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-"""
+No HAL or ESP32-S3 hardware required — pure Python logic."""

 import struct
 import pytest
--- a/test/test_jlink_frames.py
+++ b/test/test_jlink_frames.py
@ -4,12 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests.
 Tests CRC16-XModem, frame building, frame parsing (state machine),
 command payload encoding, and telemetry frame layout.

-<<<<<<< HEAD
-No HAL or STM32/ESP32 hardware required — pure Python logic.
-=======
-No HAL or ESP32-S3 hardware required — pure Python logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-"""
+No HAL or ESP32-S3 hardware required — pure Python logic."""

 import struct
 import pytest
--- a/test/test_ota.py
+++ b/test/test_ota.py
@ -3,14 +3,12 @@ test_ota.py — OTA firmware update utilities (Issue #124)

 Tests:
  - CRC-32/ISO-HDLC  (crc32_file / binascii.crc32)
-<<<<<<< HEAD
-  - CRC-32/MPEG-2    (stm32_crc32 — matches ESP32 hardware CRC unit)
-=======
-  - CRC-32/MPEG-2    (stm32_crc32 — matches ESP32-S3 hardware CRC unit)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+  - CRC-32/MPEG-2    (stm32_crc32 — legacy CRC utility, archived to legacy/stm32/)
  - CRC-16/XMODEM    (_crc16_xmodem — JLink frame integrity)
  - DFU_ENTER frame  (JLINK_CMD_DFU_ENTER = 0x06, no payload)
  - Safety constants (BKP index, flash region, magic value)
+
+NOTE: flash_firmware.py has been archived to legacy/stm32/scripts/flash_firmware.py.
 """

 import binascii
@ -21,8 +19,8 @@ import tempfile

 import pytest

-# Add scripts directory to path so we can import flash_firmware.py
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'scripts'))
+# Add legacy scripts directory to path so we can import flash_firmware.py
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'legacy', 'stm32', 'scripts'))
 from flash_firmware import (
    crc32_file,
    stm32_crc32,
@ -237,14 +235,8 @@ class TestOtaConstants:
        BNO055_BKP_RANGE  = range(0, 7)
        assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE

-<<<<<<< HEAD
-    def test_bkp_idx_valid_esp32(self):
-        """ESP32 has 32 backup registers (BKP0R–BKP31R)."""
-=======
    def test_bkp_idx_valid_esp32s3(self):
-        """ESP32-S3 has 32 backup registers (BKP0R–BKP31R)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        OTA_DFU_BKP_IDX = 15
+        """ESP32-S3 has 32 backup registers (BKP0R–BKP31R)."""        OTA_DFU_BKP_IDX = 15
        assert 0 <= OTA_DFU_BKP_IDX <= 31

    def test_flash_base(self):
@ -261,12 +253,7 @@ class TestOtaConstants:
        assert DFU_VID == 0x0483

    def test_dfu_pid_dfu_mode(self):
-<<<<<<< HEAD
-        """Default PID = 0xDF11 (ESP32 DFU mode)."""
-=======
-        """Default PID = 0xDF11 (ESP32-S3 DFU mode)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-        assert DFU_PID == 0xDF11
+        """Default PID = 0xDF11 (ESP32-S3 DFU mode)."""        assert DFU_PID == 0xDF11

    def test_bkp_idx_not_zero(self):
        """BKP15 ≠ 0 — the old request_bootloader() used BKP0R."""