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>
49 lines
3.3 KiB
YAML
49 lines
3.3 KiB
YAML
# saltybot_properties.yaml — SaltyBot robot dimensions
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# Sourced from chassis/chassis_frame.scad and chassis/ASSEMBLY.md (Rev A 2026-02-28)
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# All values in SI units (meters, kilograms, radians).
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# Update after physical measurement of the built robot.
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robot:
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# ── Drivetrain ─────────────────────────────────────────────────────────────
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# WHEELBASE = 600mm (chassis_frame.scad)
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wheel_separation: 0.600 # m, lateral center-to-center between axles
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# 8-inch hoverboard hub motor: 203mm overall wheel+tire diameter / 2
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wheel_radius: 0.1015 # m
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# Hub motor housing width (measured, approx)
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wheel_width: 0.065 # m
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# ── Ground clearance / body height ─────────────────────────────────────────
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# AXLE_HEIGHT = 310mm (chassis_frame.scad) — axle CL above flat ground
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axle_height: 0.310 # m (= base_footprint → base_link z-offset)
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# ── Main deck ──────────────────────────────────────────────────────────────
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# Deck: 640×220×6mm aluminum plate (chassis_frame.scad)
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deck_length: 0.640 # m (x-axis, fore-aft)
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deck_width: 0.220 # m (y-axis, lateral)
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deck_thickness: 0.006 # m DECK_THICKNESS = 6mm
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# ── Stem ───────────────────────────────────────────────────────────────────
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# 38.1mm (1.5") EMT conduit, cut ~1050mm (stem_battery_clamp.scad)
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stem_od: 0.0381 # m STEM_OD = 38.1mm
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stem_height: 1.050 # m nominal cut length
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# ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
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# fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
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# z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
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imu_x: 0.050 # m forward of base_link center
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imu_y: 0.000 # m
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imu_z: 0.012 # m above base_link (pad + standoff)
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# ── Sensor head (top of stem) ───────────────────────────────────────────────
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# sensor_head.scad: ARM_R = 50mm, COL_H = 36mm
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sensor_head_arm_radius: 0.050 # m ARM_R — radial arm length from stem CL
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sensor_head_collar_h: 0.036 # m COL_H — collar height (RPLIDAR above ring)
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# IMX219 and RealSense tilt 10° nose-down (from sensor_head.scad note)
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camera_tilt_down_deg: 10 # degrees downward from horizontal
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# ── Mass estimates (for inertials / Gazebo) ─────────────────────────────────
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# TODO: update with scale measurements before simulation
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chassis_mass: 3.0 # kg deck + frame + forks
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wheel_mass: 1.5 # kg per wheel (hub motor)
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payload_mass: 2.5 # kg Jetson + battery + electronics
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