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saltylab-firmware/TEAM.md
sl-jetson cea3eaff97 cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only 
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
  * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
  * Device paths: /dev/stm32-bridge → /dev/esp32-io
  * Node names: stm32_serial_bridge → esp32_io_serial_bridge
  * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
  saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
  chassis, docs, scripts, and project files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:56:09 -04:00

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SaltyLab — Ideal Team

Project

Self-balancing two-wheeled robot using a drone flight controller (ESP32-S3), hoverboard hub motors, and eventually a Jetson Nano 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 CDC bug
  • Blocker: USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see USB_CDC_BUG.md

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have:

  • Deep ESP32-S3 HAL experience (F7 series specifically)
  • USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
  • SPI + UART + USB coexistence on ESP32-S3
  • PlatformIO or bare-metal ESP32-S3 toolchain
  • DFU bootloader implementation

Nice-to-have:

  • Betaflight/iNav/ArduPilot codebase familiarity
  • PID control loop tuning for balance robots
  • FOC motor control (hoverboard ESC protocol)

Why: The immediate blocker is a USB peripheral conflict. Need someone who's debugged ESP32-S3 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.

2. Control Systems / Robotics Engineer

Must-have:

  • PID tuning for inverted pendulum / self-balancing systems
  • Complementary filter / Kalman filter for IMU sensor fusion
  • Real-time control loop design (1kHz+)
  • Safety system design (tilt cutoff, watchdog, arming sequences)

Nice-to-have:

  • Hoverboard hub motor experience
  • ELRS/CRSF RC protocol
  • ROS2 integration

Why: Once USB is fixed, the balance loop needs real-world tuning. PID gains, filter coefficients, motor response curves, safety margins — all need someone with hands-on balance bot experience.

3. Perception / SLAM Engineer (Phase 2)

Must-have:

  • Jetson Nano / NVIDIA Jetson platform
  • Intel RealSense D435i depth camera
  • RPLIDAR integration
  • SLAM (ORB-SLAM3, RTAB-Map, or similar)
  • ROS2

Nice-to-have:

  • Person tracking / following
  • Obstacle avoidance
  • Nav2 stack

Why: Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.

Hardware Reference

Component Details
FC ESP32-S3 BALANCE (ESP32-S3, ICM-42688-P)
Motors 2x 8" pneumatic hoverboard hub motors
ESC Hoverboard ESC (EFeru FOC firmware)
Battery 36V pack
RC BetaFPV ELRS 2.4GHz TX + RX
AI Brain Jetson Nano + Noctua fan
Depth Intel RealSense D435i
LIDAR RPLIDAR A1M8
Spare IMUs BNO055, MPU6050

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