sl-webui
f71dad5344
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>
65 lines
2.8 KiB
Markdown
65 lines
2.8 KiB
Markdown
# SaltyLab Firmware — Agent Playbook
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## Project
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Self-balancing two-wheeled robot: **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM.
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED.
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> Replaced by: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms).
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> The `src/` and `include/` ESP32 BALANCE firmware is legacy/archived — do not extend it.
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> New firmware goes in `esp32/` — pin assignments and framework details TBD pending max.
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## Team
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| Agent | Role | Focus |
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|-------|------|-------|
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| **sl-firmware** | Embedded Firmware Lead | ESP32 firmware, balance loop, I/O drivers, PlatformIO |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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## Repo Structure
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- `projects/saltybot/SALTYLAB.md` — Design doc
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- `USB_CDC_BUG.md` — USB peripheral conflict details
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- `TEAM.md` — Team roles specification
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## Branch Strategy (issue #28)
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### Variant branches
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| Branch | Purpose |
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|--------|---------|
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| `saltylab` | Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev) |
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| `saltylab-dev` | Integration — SaltyLab balance bot; agents target this branch |
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| `saltyrover` | Stable — 4-wheel rover variant |
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| `saltyrover-dev` | Integration — rover variant |
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| `saltytank` | Stable — tracked tank variant |
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| `saltytank-dev` | Integration — tank variant |
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| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
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### Rules
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- Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
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- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
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- Variant-specific code (motor topology, kinematics, config) goes in variant branches
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- Stable branches get promoted from `-dev` after review and hardware testing
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- **Current SaltyLab team** works against `saltylab-dev`
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### Git Workflow
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- Branch naming: `<agent>/<slug>` (e.g., `sl-firmware/usb-cdc-fix`)
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- For shared code targeting `main`: `<agent>/bd-<id>-<slug>`
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- Before every push: `git fetch origin && git rebase origin/<base-branch>`
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- Gitea: `gitea.vayrette.com/seb/saltylab-firmware`
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## Communication
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- Report progress to max via MQTT: `AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"`
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- Check inbox: `~/agent-mqtt/agent-read 2>/dev/null | tail -15`
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- Prioritize messages from max (PM)
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## Beads (Task System)
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```bash
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cd /Users/seb/AI/saltylab-firmware
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br list # List open beads
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br update <id> --claim # Claim a bead
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br close <id> --reason "Done. PR #N"
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br comment <id> "message"
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```
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