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feat: remove balance-bot safety constraints from ESP32 Balance firmware #734

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sl-jetson merged 1 commits from sl-firmware/non-balance-bot-hoverboard-drive into main 2026-04-20 19:14:41 -04:00
Conversation 0 Commits 1 Files Changed 2 +3 -6
sl-jetson commented 2026-04-19 12:55:25 -04:00
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Summary

  • Removes TILT_CUTOFF_DEG (±25° tilt cutoff) from config.h — platform no longer self-balances
  • Removes BAL_TILT_FAULT = 2 from bal_state_t enum — no code path generates this state
  • ESTOP and heartbeat watchdog are unchanged

Context

The 3-second button hold to arm and upright detection requirement were never present in the ESP32-S3 firmware (legacy STM32 only). This PR removes the one remaining artefact (TILT_CUTOFF_DEG) and cleans up the dead BAL_TILT_FAULT state from the protocol enum.

Test plan

  • Build esp32s3/balance — confirm no compile errors
  • Flash and confirm arming works without tilt/upright precondition
  • Verify ESTOP still halts motors
  • Confirm 500 ms heartbeat timeout still disarms

🤖 Generated with Claude Code

## Summary - Removes `TILT_CUTOFF_DEG` (±25° tilt cutoff) from `config.h` — platform no longer self-balances - Removes `BAL_TILT_FAULT = 2` from `bal_state_t` enum — no code path generates this state - ESTOP and heartbeat watchdog are **unchanged** ## Context The 3-second button hold to arm and upright detection requirement were **never present** in the ESP32-S3 firmware (legacy STM32 only). This PR removes the one remaining artefact (`TILT_CUTOFF_DEG`) and cleans up the dead `BAL_TILT_FAULT` state from the protocol enum. ## Test plan - [ ] Build `esp32s3/balance` — confirm no compile errors - [ ] Flash and confirm arming works without tilt/upright precondition - [ ] Verify ESTOP still halts motors - [ ] Confirm 500 ms heartbeat timeout still disarms 🤖 Generated with Claude Code
sl-jetson added 1 commit 2026-04-19 12:55:26 -04:00 
Platform is no longer a self-balancing bot. Remove:
- TILT_CUTOFF_DEG (±25° tilt cutoff constant, was unused in ESP32-S3)
- BAL_TILT_FAULT state from bal_state_t enum (no code path generates it)

ESTOP and heartbeat watchdog are unchanged.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson merged commit 97367829d3 into main 2026-04-20 19:14:41 -04:00
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Reference: seb/saltylab-firmware#734
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