Both chassis files corrected. Previous dimensions were wrong: prototype_baseplate.scad: was 680x130mm → now 270x240mm chassis_frame.scad: was 640x220mm → now 270x240mm Geometry recalculated for 270x240mm envelope: PLATE_W = 270mm (axle direction) PLATE_D = 240mm (front-to-rear) PLATE_X_HALF = 135mm (plate edge / axle entry) FORK_SLOT_D = 50mm → AXLE_X = 85mm from plate centre Axle-to-axle = 170mm (2 × 85mm) Wheels extend beyond plate edges as expected: Tire at X = ±(85 ± 27) = ±58–112mm, plate edge at ±135mm ✓ Mount positions recalculated for smaller plate: Dropout clamp bolt holes: X = ±(85±22) = ±63 and ±107mm ✓ (all within ±135mm) Stem flange bolts: r=33mm BC, at (±33,0) and (0,±33) ✓ FC mount: X = -40mm offset, holes at ±15mm ✓ Wiring slots: Y = ±55mm (clear of stem flange bolts at ±33mm) Lightening ovals: Y = ±80mm in open front/rear corridors Bumper length: 300mm (was 660mm, now PLATE_D + 60) Longitudinal ribs: 270mm long (was 600mm) chassis_frame.scad also updated: AXLE_HEIGHT corrected: 310mm → 127mm (TIRE_OD/2) Axle dimensions: 14mm → 16.11mm, flat 10mm → 13.00mm AXLE_X for fork bracket positioning Motor fork bracket logic cleaned up (no more negative cube dimensions) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Merge pull request 'feat(bd-a2j): Sensor driver integration — RealSense D435i + RPLIDAR A1M8' (#17) from sl-perception/bd-a2j-sensor-drivers into main
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SaltyLab self-balancing bot firmware (STM32F722)
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