sl-webui f71dad5344 feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0

Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).

- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
  wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
  (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
  "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
  binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
  rosbridge "Received a message without an op" incompatibility)

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

2026-04-04 08:25:24 -04:00

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SaltyLab Firmware — Agent Playbook

Project

Self-balancing two-wheeled robot: two ESP32 boards (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM.

⚠️ ARCHITECTURE CHANGE (2026-04-03): ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED. Replaced by: ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms). The src/ and include/ ESP32 BALANCE firmware is legacy/archived — do not extend it. New firmware goes in esp32/ — pin assignments and framework details TBD pending max.

Team

Agent	Role	Focus
sl-firmware	Embedded Firmware Lead	ESP32 firmware, balance loop, I/O drivers, PlatformIO
sl-controls	Control Systems Engineer	PID tuning, IMU sensor fusion, real-time control loops, safety systems
sl-perception	Perception / SLAM Engineer	Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2

Status

USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).

Repo Structure

projects/saltybot/SALTYLAB.md — Design doc
USB_CDC_BUG.md — USB peripheral conflict details
TEAM.md — Team roles specification

Branch Strategy (issue #28)

Variant branches

Branch	Purpose
`saltylab`	Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev)
`saltylab-dev`	Integration — SaltyLab balance bot; agents target this branch
`saltyrover`	Stable — 4-wheel rover variant
`saltyrover-dev`	Integration — rover variant
`saltytank`	Stable — tracked tank variant
`saltytank-dev`	Integration — tank variant
`main`	Shared code only (IMU drivers, USB CDC, balance core, safety)

Rules

Agents branch FROM <variant>-dev and PR back TO <variant>-dev
Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in main
Variant-specific code (motor topology, kinematics, config) goes in variant branches
Stable branches get promoted from -dev after review and hardware testing
Current SaltyLab team works against saltylab-dev

Git Workflow

Branch naming: <agent>/<slug> (e.g., sl-firmware/usb-cdc-fix)
For shared code targeting main: <agent>/bd-<id>-<slug>
Before every push: git fetch origin && git rebase origin/<base-branch>
Gitea: gitea.vayrette.com/seb/saltylab-firmware

Communication

Report progress to max via MQTT: AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"
Check inbox: ~/agent-mqtt/agent-read 2>/dev/null | tail -15
Prioritize messages from max (PM)

Beads (Task System)

cd /Users/seb/AI/saltylab-firmware
br list                    # List open beads
br update <id> --claim     # Claim a bead
br close <id> --reason "Done. PR #N"
br comment <id> "message"

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