Spooder: robot, gamepad bridge, desktop tools and virtual robot

Spooder: robot, gamepad bridge, desktop tools and virtual robot An architecture diagram generated by Archify. Gamepad · Bluetooth Classic · Architecture component Gamepad Bluetooth Classic Phone · WiFi, setup mode · Architecture component Phone WiFi, setup mode spooder-calibrator · Go · Gio · legs pane · Desktop (host) spooder-calibrator Go · Gio · legs pane Servo supply · 6 V BEC · ≤ 10 A · Architecture component Servo supply 6 V BEC · ≤ 10 A VL6180X + LSM6DSO · I²C1 · suspended · Architecture component · planned VL6180X + LSM6DSO I²C1 · suspended planned Bluepad32 + mapping · one pad · toggles, dials · TTGO T-Display bridge Bluepad32 + mapping one pad · toggles, dials robot_link task · 20 ms frames · e-stop · TTGO T-Display bridge robot_link task 20 ms frames · e-stop Status screen · logo · status · QR · TTGO T-Display bridge Status screen logo · status · QR Setup portal · AP · captive · editor · TTGO T-Display bridge Setup portal AP · captive · editor link (UART1) · GPIO20/21 · 115200 · Servo 2040 link (UART1) GPIO20/21 · 115200 usb_link · frames, pose + text · Servo 2040 usb_link frames, pose + text power_monitor · ADC mux · A, V · Servo 2040 power_monitor ADC mux · A, V Sensor reader · core 1 · pitch, roll · Servo 2040 · planned Sensor reader core 1 · pitch, roll planned link_receiver · arbitration · guards · Servo 2040 link_receiver arbitration · guards Supervisor · resume gate · start/stop · Servo 2040 Supervisor resume gate · start/stop Power protection · trips · e-stop fault · Servo 2040 Power protection trips · e-stop fault Status LEDs · 6× WS2812 · PIO 1 · Servo 2040 Status LEDs 6× WS2812 · PIO 1 18 MG996R servos · GPIO0–17 · 50 Hz · Architecture component 18 MG996R servos GPIO0–17 · 50 Hz servo_output · calibrated pulses · Servo 2040 servo_output calibrated pulses Body + IK · 5 ms steps · 6 gaits · Servo 2040 Body + IK 5 ms steps · 6 gaits Joint calibration · 60°/s · RAM only · Servo 2040 Joint calibration 60°/s · RAM only spooder-monitor · read-only console · Desktop (host) spooder-monitor read-only console Virtual robot · same robot_tick · pty · Desktop (host) Virtual robot same robot_tick · pty Bluetooth desired state status WiFi portal mode, edits commands, sets telemetry, reports frames over USB pose, reports, text bridge input USB input arbitrated mode guarded sets gated mode offsets pulse ranges joint angles pulses shunt, divider A, V allow, Sleep inhibit faults I²C1 text, frames same frames, pty TTGO T-Display bridge Servo 2040 Desktop (host) Legend Frontend Backend Security External