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>
81 lines
2.8 KiB
Markdown
81 lines
2.8 KiB
Markdown
# SaltyLab — Ideal Team
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## Project
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Self-balancing two-wheeled robot using **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 retired.
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> Replaced by ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms).
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## Current Status
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- **Hardware:** ESP32 BALANCE + ESP32 IO replacing STM32 FC — details from max incoming
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- **Firmware:** ESP32 firmware TBD; legacy STM32 code in `src/` is archived
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- **STM32 legacy (archived):** USB CDC bug was STM32-specific — no longer applies
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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 ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
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- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
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- SPI + UART + USB coexistence on ESP32
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- PlatformIO or bare-metal ESP32 toolchain
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- DFU bootloader implementation
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**Nice-to-have:**
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- Betaflight/iNav/ArduPilot codebase familiarity
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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. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
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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 Nano / 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 Nano 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 BALANCE (ESP32RET6, MPU6000) |
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| 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 Nano + 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: `USB_CDC_BUG.md`
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