part-specs: I/O board SPEC.md update (drive-wheel R, connectors, battery, LiDAR)#31
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OsakaTX wants to merge 19 commits into
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part-specs: I/O board SPEC.md update (drive-wheel R, connectors, battery, LiDAR)#31OsakaTX wants to merge 19 commits into
OsakaTX wants to merge 19 commits into
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added 19 commits
July 5, 2026 23:03
…re), add verified calibrations Corrects multiple factual errors in the initial part-specs README.md that propagated to upstream main via PR makerspet#11: ENCODER: - 'quadrature' -> 'single-channel Hall-effect' (confirmed by Scowt PR makerspet#13 physical inspection: exactly one encoder signal wire, blue) - PPR updated from 'NOT FOUND' to ~228 PPR raw / ~911 ticks/rev post-4x edge counting (derived from VacuumTiger calibrated ticks_per_meter=4464.0) GEARBOX: - Updated from 'NOT FOUND' to ~190:1 (derived from VELOCITY_TO_DEVICE_UNITS = 523.0 and verified max 0.3 m/s, self-consistent with 911 ticks/rev) MOTOR DRIVER IC: - Added TMI8870 (TOLL Microelectronic, top mark T8870, ESOP8) - corrected from earlier TB8870 references CONNECTORS: - Added full 7-pin JST wheel module pinout with wire colors (Scowt PR makerspet#13) - Documented J24/J27 as separate motor-power connectors (2-pin PH 2.0mm) - J25/J26 signal groups per codetiger motherboard analysis CASTER: - Added Roomba caster (4624869) specs alongside Roborock caster (9.01.1272/1273) - Both documented with dimensions, weight, mounting type ODOMETRY: - Added calibrated ticks_per_meter=4464.0, wheel_base=0.233m - Added gyro scale CRL200S_GYRO_SCALE ≈ 0.000179 rad/s per raw unit - Added encoder data format (u16 LE at offsets 0x10/0x18, 110 Hz) New companion file: vacuumtiger-verified-specs.md with derivations. Sources: codetiger/VacuumTiger source analysis (mock config.rs, commands.rs, reader.rs, dhruva.toml, calibration.rs, encoder_sim.rs, wheel_odometry.rs), Scowt PR makerspet#13 physical inspection, TMI8870 datasheet, Nidec catalog.
Review-pass fixes: correct the suction-fan count (10 rows / 9 distinct SKUs; 20N704R990F is listed at two voltages) to match the file's own table, and soften 'measured/authoritative' 19 Ohm to 'listed' since SPEC.md does not say it was measured.
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Summary
Records the new verifiable facts added to the upstream
makerspet/oomwoo-io-boarddocs/SPEC.mdon 2026-07-18 (commitsdba0d1c3,75803b7e,4e6c0134) that the OsakaTX part-specs compilation did not previously cover. All facts are quoted/paraphrased directly from that SPEC.md — no reverse-engineering.What this adds
io-board-spec-jul18-update.md:TODO check3.5 A stall and offers plausible readings).BL24131607ID FG SP - +PH2.0 pinout and theMSD-G-V1Molex Micro-Fit 3.0.Source verification
Every fact was checked verbatim against the current upstream
oomwoo-io-board/docs/SPEC.md:19 Ohm(drive-wheel row), theJST ZH 1.5mm male 7pwheel pinout andwheel-drop-switch ... orange/blue/brown hall ... MOT, MOTline, the[o66o] 4321 BAT+ 10.7K/NTC 0.62M/ID GNDbattery pinout, the 9 fan lines, the fourJST GH 1.25mmLiDAR entries, and2x 15-pin ArduCam-style connectors for OV5647— all present. Distinguishes the original Roborock wheel connector from the OOMWOO board's own 5-pin ZH J12/J13 (separate file). Open items (J25/J26 map, per-pin LiDAR maps) marked. Single-file addition, based on current main.