sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
119 lines
2.6 KiB
OpenSCAD
119 lines
2.6 KiB
OpenSCAD
// ============================================
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// SaltyLab — Full Assembly Visualization
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// Shows all parts in position on 2020 spine
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// ============================================
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include <dimensions.scad>
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// Spine height
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spine_h = 500;
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// Component heights (center of each mount on spine)
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h_motor = 0;
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h_battery = 50;
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h_esc = 100;
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h_fc = 170;
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h_jetson = 250;
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h_realsense = 350;
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h_lidar = 430;
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// Colors for visualization
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module spine() {
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color("silver")
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translate([-extrusion_w/2, -extrusion_w/2, 0])
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cube([extrusion_w, extrusion_w, spine_h]);
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}
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module wheel(side) {
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color("DimGray")
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translate([side * 140, 0, 0])
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rotate([0, 90, 0])
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cylinder(d=200, h=50, center=true, $fn=60);
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}
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// --- Assembly ---
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// Spine
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spine();
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// Wheels
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wheel(-1);
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wheel(1);
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// Motor mount plate (at base)
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color("DodgerBlue", 0.7)
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translate([0, 0, h_motor])
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import("motor_mount_plate.stl");
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// Battery shelf
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color("OrangeRed", 0.7)
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translate([0, 0, h_battery])
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rotate([0, 0, 0])
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cube([180, 80, 40], center=true);
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// ESC
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color("Green", 0.7)
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translate([0, 0, h_esc])
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cube([80, 50, 15], center=true);
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// FC (tiny!)
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color("Purple", 0.9)
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translate([0, 0, h_fc])
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cube([36, 36, 5], center=true);
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// Jetson Orin Nano Super
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color("LimeGreen", 0.7)
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translate([0, 0, h_jetson])
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cube([100, 80, 29], center=true);
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// RealSense D435i
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color("Gray", 0.8)
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translate([0, -40, h_realsense])
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cube([90, 25, 25], center=true);
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// RPLIDAR A1
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color("Cyan", 0.7)
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translate([0, 0, h_lidar])
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cylinder(d=70, h=41, center=true, $fn=40);
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// Kill switch (accessible on front)
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color("Red")
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translate([0, -60, h_esc + 30])
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cylinder(d=22, h=10, $fn=30);
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// LED ring
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color("White", 0.3)
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translate([0, 0, h_jetson - 20])
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difference() {
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cylinder(d=120, h=15, $fn=60);
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translate([0, 0, -1])
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cylinder(d=110, h=17, $fn=60);
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}
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// Bumpers
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color("Orange", 0.5) {
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translate([0, -75, 25])
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cube([350, 30, 50], center=true);
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translate([0, 75, 25])
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cube([350, 30, 50], center=true);
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}
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// Handle (top)
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color("Yellow", 0.7)
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translate([0, 0, spine_h + 10])
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cube([100, 20, 25], center=true);
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// Tether point
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color("Red", 0.8)
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translate([0, 0, spine_h - 20]) {
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difference() {
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cylinder(d=30, h=8, $fn=30);
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translate([0, 0, -1])
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cylinder(d=15, h=10, $fn=30);
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}
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}
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echo("=== SaltyLab Assembly ===");
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echo(str("Total height: ", spine_h + 30, "mm"));
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echo(str("Width (axle-axle): ", 280 + 50*2, "mm"));
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echo(str("Depth: ~", 150, "mm"));
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