cabs72030202/jdg2026_machine

How cabs72030202/jdg2026_machine works

Machine JDG2026 is a coordinated robotics control system: Raspberry Pi controllers read Logitech F710 input, encode it for SPI, and coordinate ESP32 robot programs; ESP32s use ESP-NOW to receive control state and operate robot mechanisms. The graph preserves the documented robot, motor, servo, LED, NFC, and user-interface capabilities. Source excerpts confirm the controller/SPI path, ESP-NOW decoding, and windmill storage implementation; links for other robot programs and hardware subsystems are omitted where their call relationships were not shown.

Main entry points: esp_windmill_storage.cpp Windmill Storage · controller.c Pi Controller · spi_rpi.c SPI Master · esp-controls.cpp ESP Control State

Components 23

Operator Control

Pi Controller src/controller.c
F710 Driver lib/f710/f710.c

Control Transport

SPI Master lib/spi_comm/spi_rpi.c
SPI Bus
SPI Slave lib/spi_comm/spi_esp.cpp
ESP Control State lib/esp-controls/esp-controls.cpp
ESP-NOW Communication lib/wireless-com/wireless-com.cpp
ESP Transmitter src/esp_tx.cpp

Robot Programs

Dam Elevator src/esp_dam_elevator.cpp
Dam Gripper src/esp_dam_gripper.cpp
Nuclear Robot src/esp_nuclear.cpp
Solar Robot src/esp_solar.cpp
Windmill Elevator src/esp_windmill_elevator.cpp
Windmill Gripper src/esp_windmill_gripper.cpp
Windmill Storage src/esp_windmill_storage.cpp
ESP Calibration src/esp_calibration.cpp

Robot Hardware

Motor Control lib/motor/motor.cpp
Mecanum Drive lib/motor/mecanum.cpp
Servo Control lib/servo/servo180.cpp
LED Control lib/led/ws2811.cpp
NFC lib/nfc/nfc.cpp
RemoteXY Interface lib/remotexy/esp_xy.cpp

Other components

Gamepad Operator

Connections 13

Gamepad Operator → Pi Controller: provides input README.md
Pi Controller → F710 Driver: reads events src/controller.c
Pi Controller → SPI Master: sends state src/controller.c
SPI Master → F710 Driver: formats state lib/spi_comm/spi_rpi.c
SPI Master → SPI Bus: transfers data
SPI Bus → SPI Slave: transfers data
SPI Slave → ESP Control State: delivers decoded packet
ESP-NOW Communication → ESP Control State: unpacks received state lib/wireless-com/wireless-com.cpp
Pi Controller → ESP Transmitter: coordinates wirelessly README.md
Windmill Storage → ESP-NOW Communication: initializes link src/esp_windmill_storage.cpp
Windmill Storage → ESP Control State: reads control state src/esp_windmill_storage.cpp
Windmill Storage → Mecanum Drive: commands drive src/esp_windmill_storage.cpp
Windmill Storage → Servo Control: processes servo commands src/esp_windmill_storage.cpp

More C++ diagrams: libnifalcon/libnifalcon · reefwing-software/reefwing-ahrs · tridao/flash-attention-wheels · valkmjolnir/nasal-interpreter · xtech/self-o-mat

Drawn by GitDiagram on September 30, 2026 from the repository's file tree, README and source files. Read as Markdown ·