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saltylab-firmware/TEAM.md
sl-mechanical a2c554c232 cleanup: remove all Mamba/F722S/STM32F722 refs — replace with ESP32-S3 BALANCE/IO 
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update
  SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs
- cad/: dimensions.scad FC params → ESP32-S3 BALANCE params
- chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/
  FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout
- CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC
- USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era)
- AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE)
- projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN
- jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge
- jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC
- jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py,
  stm32_cmd_node.py → esp32_cmd_node.py,
  mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated
- scripts/flash_firmware.py: DFU/STM32 → pio run -t upload
- src/ include/: ARCHIVED headers added (legacy code preserved)
- test/: ARCHIVED notices; STM32F722 comments marked LEGACY
- ui/diagnostics_panel.html: Board/STM32 → ESP32-S3

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 09:06:09 -04:00

2.8 KiB
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SaltyLab — Ideal Team

Project

SAUL-TEE 4-wheel wagon robot using ESP32-S3 BALANCE (PID/CAN master) and ESP32-S3 IO (RC/sensors), with Jetson Orin Nano Super for AI/SLAM.

Current Status

  • Hardware: Assembled — ESP32-S3 BALANCE + IO, VESCs, IMU, battery, RC all on hand
  • Firmware: Balance PID + VESC CAN protocol written, ESP32-S3 inter-board UART protocol active
  • Status: See current bead list for active issues

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have:

  • ESP32-S3 firmware (Arduino / ESP-IDF framework)
  • PlatformIO toolchain
  • CAN bus protocol and VESC CAN integration
  • Inter-board UART protocol (460800 baud, binary framed)
  • Safety system design (tilt cutoff, watchdog, arming sequences)

Nice-to-have:

  • VESC firmware / VESC Tool experience
  • PID control loop tuning for balance robots
  • ELRS/CRSF RC protocol

Why: Core firmware runs on ESP32-S3 BALANCE (PID/CAN master) and ESP32-S3 IO (RC/sensors). Need expertise in ESP32-S3 firmware and CAN bus integration with VESC motor controllers.

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:

  • VESC motor controller 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 Orin Nano Super / NVIDIA Jetson platform (JetPack 6)
  • 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 Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.

Hardware Reference

Component Details
BALANCE MCU ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, QMI8658 IMU)
IO MCU ESP32-S3 IO (RC/sensors/LEDs board)
Motors 2x 8" pneumatic hub motors
ESC Left VESC left (CAN ID 68)
ESC Right VESC right (CAN ID 56)
CAN Bridge CANable 2.0 (Jetson USB → can0, 500 kbps)
Battery 36V pack
RC BetaFPV ELRS 2.4GHz TX + RX
AI Brain Jetson Orin Nano Super + Noctua fan
Depth Intel RealSense D435i
LIDAR RPLIDAR A1M8
Spare IMUs BNO055, MPU6050

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