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saltylab-firmware/TEAM.md
sl-uwb bb35ddd56d chore: resolve git conflict markers and complete legacy STM32/Mamba → ESP32-S3 rename 
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side)
- Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_*
- Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py
- Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with
  balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem,
  decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node
- Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py
- Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived
- Update can_bridge_params.yaml: mamba_can_id → balance_can_id
- Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture
- Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py
- No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 09:11:24 -04:00

2.8 KiB
Raw Blame History

SaltyLab — Ideal Team

Project

Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super 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 Serial (CH343) bug
  • Blocker: USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see legacy/stm32/USB_CDC_BUG.md for historical context

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have:

  • Deep ESP-IDF experience (ESP32-S3 specifically)
  • USB Serial (CH343) / UART debugging on ESP32-S3
  • SPI + UART + USB coexistence on ESP32-S3
  • ESP-IDF / Arduino-ESP32 toolchain
  • OTA firmware update implementation Nice-to-have:
  • ESP32-S3 peripheral coexistence (SPI + UART + USB)
  • PID control loop tuning for balance robots
  • FOC motor control (hoverboard ESC protocol)

Why: The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) 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 Orin Nano Super / 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 Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.

Hardware Reference

Component Details
FC ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658)
ESC Hoverboard ESC (EFeru FOC firmware)
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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