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openclaw-wiki/memory/2026-05-04.md
MrC 436fcee264 Merge professor workspace into wiki vault 
- knowledge/ (silo concepts, keywords, Fabric-growth)
- memory/ (daily logs, research queue, connections log)
- HEARTBEAT.md (seasonal schedule, firmware scans)
- FABRIC-architecture.md (Fabric system design)
- SOUL.md, IDENTITY.md, USER.md (agent identity files)
- Fabric-growth system + keywords files

One repo going forward. Professor workspace: working context only.
2026-05-04 21:29:50 +00:00

9.1 KiB
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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

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