TECHNICAL DOSSIER
HF-ACKERMANN / V1
01 — MISSION + OWNERSHIP
Build a vision-driven robot that follows a person — and prove the layered architecture that separates intelligence from actuation.
SOLO — FULL CAD, WIRING, BOM, FIRMWARE, VISION, REPORT
02 — ARCHITECTURE
The philosophy carried into v2 started here: the Jetson perceives and decides; the Teensy owns physical safety and actuation; a simple ASCII serial protocol is the only bridge between them.
SERIAL PROTOCOL — V1
STOP · DRIVE · ARC · CENTER · PARAM → OK / DONE / TELEM
STALL DETECTIONDrive faults detected and cut before they cook a motor or driver.
IMPULSE PWMBounded impulses instead of continuous drive — motion is always time-limited.
LIPO PROTECTIONBattery monitoring on dual 3S packs — undervoltage never discovered the hard way.
03 — EARLY STEERING BRING-UP
Before the Teensy drive system was integrated, steering was prototyped with a MicroPython script reading three analogue sensors through voltage thresholds and driving an L298N-class motor driver — auto-centering the steering rack in hardware bring-up tests. Unglamorous, and exactly how real platforms get commissioned.
