Arduino_L298N_Generic

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Arduino_L298N_Generic
  robot_uuid: 0f434900-cfba-4fe2-8803-d2bf5ee969d0
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - mobile
  - diy
  - arduino
  - l298n
  - makerspace
  - stem
  - second-hand
  - generic
  description: 'Generic Arduino (Uno/Mega/Nano) + L298N dual H-bridge motor driver
    — the most common DIY robotics combo in the world. Found at every makerspace,
    hackerspace, school electronics lab, and Goodwill bin. Communicates via USB serial
    using a simple JSON or line-protocol firmware. Supports 2-4 DC motors, servo,
    and analog/digital sensors.

    '
  rrn: RRN-229395354707
  rrn_uri: rrn://community/robot/opencastor/arduino-l298n-generic/arduino_l298n
agent:
  provider: anthropic
  model: claude-sonnet-4-5
  vision_enabled: false
  latency_budget_ms: 150
  safety_stop: true
  offline_provider: ollama
  confidence_gates:
  - scope: control
    min_confidence: 0.75
    on_fail: block
  - scope: safety
    min_confidence: 0.9
    on_fail: block
physics:
  type: differential
  dof: 2
  chassis:
    wheel_base_mm: 150
    wheel_radius_mm: 33
drivers:
- id: motor_driver
  protocol: arduino_serial_json
  port: /dev/ttyACM0
  baud: 115200
  channels:
    left_pwm_pin: 5
    left_dir_a: 6
    left_dir_b: 7
    right_pwm_pin: 10
    right_dir_a: 8
    right_dir_b: 9
  max_pwm: 255
  deadband_pwm: 40
- id: ultrasonic_hcsr04
  protocol: arduino_serial_json
  port: /dev/ttyACM0
  baud: 115200
  sensor_type: hcsr04
  trigger_pin: 12
  echo_pin: 11
- id: servo_pan
  protocol: arduino_serial_json
  port: /dev/ttyACM0
  baud: 115200
  sensor_type: servo
  pin: 3
  min_us: 500
  max_us: 2500
- id: line_sensor
  protocol: arduino_serial_json
  port: /dev/ttyACM0
  baud: 115200
  sensor_type: digital_array
  pins:
  - A0
  - A1
  - A2
  - A3
connection:
  type: serial
  port: /dev/ttyACM0
  baud: 115200
network:
  telemetry_stream: false
  sim_to_real_sync: false
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - nav
  - teleop
  enable_mdns: false
  enable_jwt: false
notes:
  firmware: "Flash firmware/arduino_l298n_bridge.ino with Arduino IDE. The sketch\
    \ reads JSON commands on Serial and replies with sensor JSON:\n  {\"cmd\":\"drive\"\
    ,\"left\":150,\"right\":150}  → move\n  {\"cmd\":\"stop\"}                   \
    \        → emergency stop\n  {\"cmd\":\"sensor\",\"id\":\"hcsr04\"}          \
    \ → get distance\n"
  wiring_cheatsheet:
    l298n_power: Connect 12V to L298N VCC, GND to L298N GND and Arduino GND.
    motor_a: Motor A → OUT1 and OUT2 on L298N
    motor_b: Motor B → OUT3 and OUT4 on L298N
    logic: L298N 5V → Arduino 5V (if jumper present, else skip)
  second_hand_tips: 'Arduino Uno clones with CH340 USB chip are everywhere and cost
    ~$3. The L298N module (blue or red board) is ~$2. Total BOM under $15 including
    chassis. Check eBay, AliExpress, and school makerspace scrap bins.

    '
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: anthropic
  slow_model: claude-sonnet-4-5
  planner_interval: 10
agent_roster:
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
- id: chat_specialist
  provider: anthropic
  model: claude-sonnet-4-5
  scope: chat
geofence:
  enabled: false
  boundary:
    type: none
reactive:
  min_obstacle_m: 0.3
  fallback_provider: ollama
cameras:
  main:
    type: http
    url: http://127.0.0.1:8765/snapshot
safety:
  local_safety_wins: true
  emergency_stop_distance: 0.4
  estop_bypass_rate_limit: true
  watchdog:
    timeout_s: 10
hardware_safety:
  physical_estop: false
  hardware_watchdog_mcu: false
p66:
  enabled: true
  loa_enforcement: true
  consent_required: true
  manifest:
    estop_qos_bypass: true
consent:
  required: true
  mode: explicit
  scope_threshold: control
security:
  replay_protection:
    enabled: true
    window_s: 30
  signing:
    enabled: false
    algorithm: Ed25519
loa:
  enforcement: true
  min_loa_for_control: 1
human_identity:
  loa_required: 1
transport:
  supported:
  - http
  - mqtt
  constrained_enabled: false
multimodal:
  enabled: true
  max_chunk_bytes: 1048576
offline:
  enabled: true
  fallback_provider: ollama
r2ram:
  scopes:
  - discover
  - status
  - chat
  - control
  - safety
federation:
  enabled: true
  consent_bridge: false