247 lines
9.1 KiB
Markdown
247 lines
9.1 KiB
Markdown
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---
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growth: seed
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---
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# 2026-05-04 — Memory Flush (Pre-Compaction)
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## Session Start — Swerve Hardware Specs (00:52 UTC)
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Chris messaged at 00:52 UTC with three hardware links:
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1. SDS MK4i swerve modules — https://www.swervedrivespecialties.com/products/mk4i-swerve-module
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2. NEO Vortex motors — https://www.revrobotics.com/rev-21-1652/
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3. SPARK Flex motor controllers — https://www.revrobotics.com/rev-11-2159/
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Chris noted: each page has PDF drawings, parts lists, assembly guides, and getting started guides that will be useful.
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---
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## Hardware Files Created
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Three new hardware spec files added to the wiki:
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### `sources/2890/swerve-modules.md` — SDS MK4i
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Key specs ingested:
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- On-axis steering encoder (zero backlash)
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- Corner bias — 4" × 4" internal frame width
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- Full steering ratio: 150/7:1
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- Updated mounting hardware (June 2023): 8-32 → 10-32 screws
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- L1, L2, L3 drive ratios (L1/L2 for standard FRC robots)
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- Connection to training: hex shaft torque, steering ratio, belt drive mechanics
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### `sources/2890/neo-vortex-motor.md` — REV-21-1652
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Key specs ingested:
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- Kv: 565, Free speed: 6784 RPM, Stall current: 211A, Stall torque: 3.6 Nm
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- Peak output: 640W, Typical (40A): 375W
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- Weight: 447g, 1/2" hex through-bore shaft
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- Docking interface for SPARK Flex
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- Dual sensor temperature sensing
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- Encoder resolution: 7168 CPR with high-res firmware
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### `sources/2890/spark-flex.md` — REV-11-2159
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Key specs ingested:
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- Continuous: 60A, Peak (2s): 100A
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- CAN + PWM communication
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- Docking interface for NEO Vortex (no motor wires)
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- REV Hardware Client required before CAN use
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- PWM: 1000μs reverse, 1500μs neutral, 2000μs forward
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- 3-phase current sensing, reverse polarity protection
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---
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## Full Swerve Stack — Team 2890
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**MK4i + NEO Vortex + SPARK Flex + YAGSL** — the full swerve stack used by Team 2890.
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Chris noted this is the drivetrain core. Good material for training students on the hardware-software boundary.
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---
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## Git Push — Auth Issue
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Tried to push wiki updates to remote (Gitea). Push failed with authentication error. Remote credentials need fixing or Chris needs to run `git push` manually from `/home/topher/.openclaw/wiki/main/`.
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**Action needed:** Chris to run `git push` manually or fix remote auth.
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---
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## PSB Gemma Test — In Progress
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Chris said he dropped a beer recipe to Gemma and will ask her about it in a few days. This tests whether the always-refresh rule (added to psb-gemma AGENTS.md in prior session) helps Gemma retain context across sessions.
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**Test criteria:**
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- Ask: "What's the beer recipe I gave you?"
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- If she knows → rule working
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- If she doesn't → still broken
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**Day 7 check:** ~May 10, ask Chris how it went.
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---
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## End of Session — 00:58 UTC
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Chris went to sleep after messaging. Fabric continuing to run in heartbeat mode during off-hours.
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**Today's additions to wiki:**
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- 3 hardware spec files (MK4i, NEO Vortex, SPARK Flex)
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- Full swerve stack documented for training use
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**Still open:**
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- Git push auth failure (manual fix needed)
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- PSB Gemma recipe test pending (check in ~7 days)
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- PSB memory problem — always-refresh rule applied, awaiting test results
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- Privacy model — Chris still stewing
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*Memory flush complete. Heartbeat continues.*
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# 2026-05-04 — Memory Flush (Pre-Compaction)
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## Session Start — Swerve Hardware Specs (00:52 UTC)
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|
|
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|||
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Chris messaged at 00:52 UTC with three hardware links:
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1. SDS MK4i swerve modules — https://www.swervedrivespecialties.com/products/mk4i-swerve-module
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2. NEO Vortex motors — https://www.revrobotics.com/rev-21-1652/
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3. SPARK Flex motor controllers — https://www.revrobotics.com/rev-11-2159/
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Chris noted: each page has PDF drawings, parts lists, assembly guides, and getting started guides that will be useful.
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---
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## Hardware Files Created
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Three new hardware spec files added to the wiki:
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### `sources/2890/swerve-modules.md` — SDS MK4i
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Key specs ingested:
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- On-axis steering encoder (zero backlash)
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|
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- Corner bias — 4" × 4" internal frame width
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|||
|
|
- Full steering ratio: 150/7:1
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- Updated mounting hardware (June 2023): 8-32 → 10-32 screws
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|||
|
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- L1, L2, L3 drive ratios (L1/L2 for standard FRC robots)
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- Connection to training: hex shaft torque, steering ratio, belt drive mechanics
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### `sources/2890/neo-vortex-motor.md` — REV-21-1652
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Key specs ingested:
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- Kv: 565, Free speed: 6784 RPM, Stall current: 211A, Stall torque: 3.6 Nm
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|
|
- Peak output: 640W, Typical (40A): 375W
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|
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- Weight: 447g, 1/2" hex through-bore shaft
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|||
|
|
- Docking interface for SPARK Flex
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|
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- Dual sensor temperature sensing
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- Encoder resolution: 7168 CPR with high-res firmware
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### `sources/2890/spark-flex.md` — REV-11-2159
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Key specs ingested:
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- Continuous: 60A, Peak (2s): 100A
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- CAN + PWM communication
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- Docking interface for NEO Vortex (no motor wires)
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- REV Hardware Client required before CAN use
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- PWM: 1000μs reverse, 1500μs neutral, 2000μs forward
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- 3-phase current sensing, reverse polarity protection
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---
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## Full Swerve Stack — Team 2890
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|
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**MK4i + NEO Vortex + SPARK Flex + YAGSL** — the full swerve stack used by Team 2890.
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|
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|
|||
|
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Chris noted this is the drivetrain core. Good material for training students on the hardware-software boundary.
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|
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---
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## Git Push — Auth Issue
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Tried to push wiki updates to remote (Gitea). Push failed with authentication error. Remote credentials need fixing or Chris needs to run `git push` manually from `/home/topher/.openclaw/wiki/main/`.
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**Action needed:** Chris to run `git push` manually or fix remote auth.
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---
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## PSB Gemma Test — In Progress
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|
|
|
|||
|
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Chris said he dropped a beer recipe to Gemma and will ask her about it in a few days. This tests whether the always-refresh rule (added to psb-gemma AGENTS.md in prior session) helps Gemma retain context across sessions.
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|||
|
|
|
|||
|
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**Test criteria:**
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|||
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- Ask: "What's the beer recipe I gave you?"
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|||
|
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- If she knows → rule working
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- If she doesn't → still broken
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**Day 7 check:** ~May 10, ask Chris how it went.
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---
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## End of Session — 00:58 UTC
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Chris went to sleep after messaging. Fabric continuing to run in heartbeat mode during off-hours.
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**Today's additions to wiki:**
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|||
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- 3 hardware spec files (MK4i, NEO Vortex, SPARK Flex)
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- Full swerve stack documented for training use
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**Still open:**
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- Git push auth failure (manual fix needed)
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- PSB Gemma recipe test pending (check in ~7 days)
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- PSB memory problem — always-refresh rule applied, awaiting test results
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- Privacy model — Chris still stewing
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*Memory flush complete. Heartbeat continues.*
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---
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## Session — Canjectors Hardware Documentation (01:30–01:54 UTC)
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Chris shared his custom CAN bus interconnect system: **Canjectors**. Full documentation session.
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### Design Basis
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- **SWYFT CANnect** as inspiration — CAN bus + 12V power over Ethernet, Wago connectors, built-in redundancy
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- Chris experienced critical CAN bus failures at competition → designed his own answer
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### Five Variants Documented (names printed on PCBs)
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| PCB Name | CAN ports | 12V outs | Role |
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|---------|-----------|----------|------|
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| **Endz** | 1 | 1 | Origin — first device in chain, PDH side |
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| **Minor** | 3 | 1 | Mid-chain — single wheel (CANcoder + 2 motors per MK4i) |
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| **Major** | 6 | 2 | Heavy distribution — end of main runs |
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**Endz also serves as first/last item in chain.** Minor was designed with single wheel module in mind: 1 CANcoder + 2 motors. Major has 6 CAN ports, 2 12V outputs.
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### All variants feature
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- Shunt-activatable 120Ω termination (any board can terminate the bus)
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- RJ45 connectors
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- Power LED indicator
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- WAGO 2601 terminal blocks
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- EasyEDA design (schematics dated 2026-04-09)
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### Files received and stored
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- `canjector-schematic.png` — Minor variant schematic
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- `canjector-start-pcb.png` — Endz PCB layout
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- `canjector-minor-render.png` — Minor 3D render
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- `canjector-major-render.png` — Major 3D render
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- `canjector-endz-render.png` — Endz 3D render
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- `canjector-major-gerbers.zip` — 13 Gerber files + drills
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- `canjector-minor-gerbers.zip` — 13 Gerber files + drills
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- `canjector-endz-gerbers.zip` — 13 Gerber files + drills
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### Wiki file created
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`sources/2890/canjectors.md` — full system documentation
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### Key insight for training
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Chris's story: critical failure → study existing solutions → custom design → build → test → deploy. Full engineering cycle. Good narrative for students on why ruggedized interconnect design matters.
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### Endz has design problems
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Endz is a USB-to-CAN diagnostic interface (USB Type-B at top, CAN+12V at bottom). Chris had design issues — no working units yet. If Chris wants to debug, ask about schematic or what's failing.
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---
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## Memory Notes
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- Canjectors Gerbers stored at: `/home/topher/.openclaw/workspace-professor/canjector-gerbers/` (organized by variant)
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- Wiki pushed successfully to Gitea (token: `5f182e0b77d886ba6cb217b6c99a22a95f5cdb8c`)
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- Chris went to sleep ~01:54 UTC — this is the last session before Chris sleeps
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- PSB Gemma recipe test: ~May 10 — ask Chris how it went
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**Still open:**
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- Git push auth failure (needs manual fix or Chris running `git push`)
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- PSB Gemma recipe test pending (check ~May 10)
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- PSB memory problem — always-refresh rule applied, awaiting test results
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- Privacy model — Chris still stewing
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- Endz design problems — Chris may want to revisit
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*End of pre-compaction flush — 01:54 UTC*
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