sl-jetson
cea3eaff97
- 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>
78 lines
2.7 KiB
Markdown
78 lines
2.7 KiB
Markdown
# SaltyLab — Ideal Team
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## Project
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Self-balancing two-wheeled robot using a drone flight controller (ESP32-S3), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
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## Current Status
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- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
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- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
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- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
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---
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## Roles Needed
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### 1. Embedded Firmware Engineer (Lead)
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**Must-have:**
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- Deep ESP32-S3 HAL experience (F7 series specifically)
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- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
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- SPI + UART + USB coexistence on ESP32-S3
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- PlatformIO or bare-metal ESP32-S3 toolchain
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- DFU bootloader implementation
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**Nice-to-have:**
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- Betaflight/iNav/ArduPilot codebase familiarity
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- PID control loop tuning for balance robots
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- FOC motor control (hoverboard ESC protocol)
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**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.
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### 2. Control Systems / Robotics Engineer
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**Must-have:**
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- PID tuning for inverted pendulum / self-balancing systems
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- Complementary filter / Kalman filter for IMU sensor fusion
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- Real-time control loop design (1kHz+)
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- Safety system design (tilt cutoff, watchdog, arming sequences)
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**Nice-to-have:**
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- Hoverboard hub motor experience
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- ELRS/CRSF RC protocol
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- ROS2 integration
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**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.
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### 3. Perception / SLAM Engineer (Phase 2)
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**Must-have:**
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- Jetson Nano / NVIDIA Jetson platform
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- Intel RealSense D435i depth camera
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- RPLIDAR integration
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- SLAM (ORB-SLAM3, RTAB-Map, or similar)
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- ROS2
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**Nice-to-have:**
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- Person tracking / following
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- Obstacle avoidance
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- Nav2 stack
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**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
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---
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## Hardware Reference
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| Component | Details |
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|-----------|---------|
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| FC | ESP32-S3 BALANCE (ESP32-S3, ICM-42688-P) |
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| Motors | 2x 8" pneumatic hoverboard hub motors |
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| ESC | Hoverboard ESC (EFeru FOC firmware) |
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| Battery | 36V pack |
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| RC | BetaFPV ELRS 2.4GHz TX + RX |
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| AI Brain | Jetson Nano + Noctua fan |
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| Depth | Intel RealSense D435i |
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| LIDAR | RPLIDAR A1M8 |
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| Spare IMUs | BNO055, MPU6050 |
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## Repo
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- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
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- Design doc: `projects/saltybot/SALTYLAB.md`
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- Bug doc: `USB_CDC_BUG.md`
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