bb35ddd56d
- 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>
74 lines
2.8 KiB
Markdown
74 lines
2.8 KiB
Markdown
# SaltyLab — Ideal Team
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## Project
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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.
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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 Serial (CH343) bug
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- **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
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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 ESP-IDF experience (ESP32-S3 specifically)
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- USB Serial (CH343) / UART debugging on ESP32-S3
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- SPI + UART + USB coexistence on ESP32-S3
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- ESP-IDF / Arduino-ESP32 toolchain
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- OTA firmware update implementation
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**Nice-to-have:**
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- ESP32-S3 peripheral coexistence (SPI + UART + USB)
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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 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.
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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 Orin Nano Super / 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 Orin Nano Super 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-S3RET6, QMI8658) || 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 Orin Nano Super + 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: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
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