Development Log & Notes
You can find a running log of notes and development updates here. I'll do my best to keep it current.
Engraving Plastic
Making label plates for Calvin's power switches with an engraving bit and a lot of trial and error in Fusion.
Chassis Parts
Machined motor plates, pressed bearings, and a new filament to solve the warping problem on the printed frame.
Printing Jigs
The frame was out of square because I tapped the holes by hand. A couple of printed jigs fixed that.
Cutting Metal
The Carvera CNC mill gets its first real job: bearing pockets to ±0.001" tolerance.
Wireless Telemetry
Cogitator is now running on the Jetson and streaming over Wi-Fi. One real link in the chain.
Connecting the Pipes
Mapping the data path from Instinctus through Cogitator to Explorator, with ZeroMQ and WebSockets in the middle.
In the Beginning
Starting from scratch with the build log: frame design, sensor mounting, and getting the IMU as close to the axle centerline as possible.
RIP Arduino
The GIGA burned itself out. Switching to a Teensy 4.1 — cheaper, smaller, and honestly a better fit.
The Event Queue
Dual-core isolation requires a carefully designed bridge — here's how the M4 and M7 talk without stepping on each other.
The Nervous System
How Calvin's fundamental functions — balance, motor control, and safety — are isolated on the M4 core.
Hello, Calvin
Calvin is a self-balancing robot, and this is his development log.