sl-jetson e28f1549cb feat: Orin motor control daemon (Issue #523) ...

Add saltybot_motor_daemon ROS2 package — Python daemon that subscribes
to /cmd_vel and drives the FC via W<speed>,<steer>\n over /dev/ttyTHS1
at 921600 baud.

- motor_daemon_node.py: 50 Hz fixed-rate TX, 200ms safety watchdog,
  Twist→ESC conversion (±1000 range), FC ack parsing (W:<s>,<st>),
  periodic ? status query, /diagnostics publisher, auto-reconnect
- config/motor_daemon_params.yaml: all tunable params with comments
- launch/motor_daemon.launch.py: parameterised launch file
- test/test_motor_daemon.py: 25 unit tests (all passing)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-06 23:02:57 -05:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

chassis

feat: Add Issue #505 CAD - 24V Charging Dock OpenSCAD Models

2026-03-06 11:44:28 -05:00

docs

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

esp32/social_expression

feat(social): Issue #86 — physical expression + motor attention

2026-03-01 23:35:59 -05:00

include

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

jetson

feat: Orin motor control daemon (Issue #523)

2026-03-06 23:02:57 -05:00

lib/USB_CDC

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

phone

feat: Phone-based motor test joystick app (Issue #513)

2026-03-06 11:47:15 -05:00

projects/saltybot

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

test

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

ui

feat: centralized parameter server + dynamic reconfiguration (Issue #471)

2026-03-05 12:10:04 -05:00

.DS_Store

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

AUTONOMOUS_ARMING.md

feat: Remove ELRS arm requirement for autonomous operation (Issue #512)

2026-03-06 11:46:03 -05:00

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

platformio.ini

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

Languages

Python 67.1%

C 11.4%

JavaScript 9.2%

OpenSCAD 7.8%

HTML 1.5%

Other 2.9%