Robot is no longer a balance bot. Remove:
- TILT_CUTOFF_DEG (±25° tilt cutoff) from config.h
- BAL_TILT_FAULT enum value from orin_serial.h
- CMD_PID / orin_pid_t (balance PID tuning) from protocol
- Steer differential (RPM_PER_STEER_UNIT) from drive task
- VESC_ID_B drive command — front VESC (ID 61) only
Update VESC CAN IDs: 56→61 (front), 68→79 (rear).
VESC_ID_B retained for rear telemetry RX only.
ESTOP and heartbeat watchdog unchanged.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-firmware
021caef61a