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Stretch Lab

Stretch 4

Stretch 4, the book

  • 14 chapters
  • 132 pages
  • 65,529 words in the verified manual

One place to learn the robot, from the power latch to the code.

Read it in order or jump to a chapter. The first seven chapters are the verified manual, split into sections you can open on a phone; the rest are reference pages generated from the code itself.

Looking for an investigation such as the power-state FMEA? Those are projects under Tasks, and their live consoles are under Dashboards.

Contents

  1. Start here

    1. The robot at a glanceOrientation, how to read the manual, and the full contents.one page, 1,193 words

  2. Powering up

    1. How the robot powers upLatch, two microcontrollers, five firmware states, the measured state machine, rails per state, sequences with timings.12 sections, 3,641 words

  3. Hardware

    1. Hardware, rail by railThe PIMU board from the battery to the last eFuse.22 sections, 16,989 words
    2. The rest of the robotActuators, sensors, hubs, and how everything talks.28 sections, 17,858 words
    3. Chips and componentsChip school, component reference, electronics refreshers, designator index.19 sections, 10,230 words
    4. Schematic setThe 22 S4-PIMU schematic sheets.22 sheets, 294 words

  4. Firmware and host

    1. Firmware and the hostWhat the SAMD and the ESP run, and how the NUC drives them.21 sections, 15,324 words
    2. Firmware referenceEvery sketch and library in stretch_firmware_ii, file by file.generated from the code

  5. Body API

    1. Body APIstretch_body_ii: RPC catalog, transport layer, endpoint mapping, ZMQ architecture.generated from the code

  6. The code

    1. The codeSystem architecture, repository map, end-to-end command flow, task playbook, and the live codebase snapshot.generated from the code
    2. AI stackstretch_ai: perception, planning and mapping.generated from the code

  7. Risks and safety

    1. Risks and safetyCritical issues, safety invariants, and what to validate before a change ships.generated from the code

  8. Compliance

    1. FCC certificationPlan, schedule and prior findings.generated from the code
    2. EMC statusPre-scan results and open items.generated from the code

Also useful: Repositories.