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