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saltylab-firmware/TEAM.md
sl-firmware 30b0f245e1 docs: retire Mamba F722S/BlackPill, adopt ESP32 BALANCE + ESP32 IO architecture 
Effective 2026-04-03: STM32F722 flight controller no longer used.
New architecture:
- ESP32 BALANCE: PID balance loop
- ESP32 IO: motors, sensors, comms

Updated: CLAUDE.md, TEAM.md, docs/AGENTS.md, docs/SALTYLAB.md
Legacy src/ STM32 firmware is archived — not extended.
Source code migration pending ESP32 hardware spec from max.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:25:24 -04:00

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SaltyLab — Ideal Team

Project

Self-balancing two-wheeled robot using two ESP32 boards (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM.

⚠️ ARCHITECTURE CHANGE (2026-04-03): Mamba F722S (STM32F722) and BlackPill retired. Replaced by ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms).

Current Status

  • Hardware: ESP32 BALANCE + ESP32 IO replacing STM32 FC — details from max incoming
  • Firmware: ESP32 firmware TBD; legacy STM32 code in src/ is archived
  • STM32 blocker (resolved/irrelevant): USB CDC bug was STM32-specific — no longer applies

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have:

  • Deep STM32 HAL experience (F7 series specifically)
  • USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
  • SPI + UART + USB coexistence on STM32
  • PlatformIO or bare-metal STM32 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 STM32 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 MAMBA F722S (STM32F722RET6, MPU6000)
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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