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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
2 changed files with 3 additions and 6 deletions
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2
esp32s3/balance/main/config.h
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@ -38,5 +38,3 @@
#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */ #define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
#define RPM_PER_STEER_UNIT 3 /* steer differential scale */ #define RPM_PER_STEER_UNIT 3 /* steer differential scale */
/* ── Tilt cutoff ── */
#define TILT_CUTOFF_DEG 25.0f

7
esp32s3/balance/main/orin_serial.h
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@ -53,10 +53,9 @@
/* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */ /* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */
typedef enum { typedef enum {
BAL_DISARMED = 0, BAL_DISARMED = 0,
BAL_ARMED = 1, BAL_ARMED = 1,
BAL_TILT_FAULT = 2, BAL_ESTOP = 3,
BAL_ESTOP = 3,
} bal_state_t; } bal_state_t;
/* ── Shared state written by RX task, consumed by main/vesc tasks ── */ /* ── Shared state written by RX task, consumed by main/vesc tasks ── */