Elegoo_Tumbller_Smart_Car

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Elegoo_Tumbller_Smart_Car
  robot_uuid: 582f6e7c-d220-4cb2-94b6-15826a56dac8
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - mobile
  - self-balancing
  - arduino
  - elegoo
  - stem
  - amazon
  - second-hand
  description: 'Elegoo Tumbller / Elegoo Smart Robot Car — among the most popular
    sub-$40 Arduino-based kits on Amazon. The Tumbller is a self-balancing two-wheel
    robot (MPU6050 IMU + TB6612FNG motors). The Smart Car kit is a 4-wheel line-follower/
    obstacle-avoidance car. Both use Arduino Uno/Nano + USB serial.

    '
  rrn: RRN-221530923640
  rrn_uri: rrn://community/robot/opencastor/elegoo-tumbller-smart-car/elegoo_tumbller
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: 95
    wheel_radius_mm: 34
drivers:
- id: motor_driver
  protocol: arduino_serial_json
  port: /dev/ttyUSB0
  baud: 9600
  channels:
    left_motor: M1
    right_motor: M2
  motor_driver_ic: TB6612FNG
  left_pwm_pin: 5
  left_in1: 7
  left_in2: 8
  right_pwm_pin: 6
  right_in1: 9
  right_in2: 11
- id: imu_mpu6050
  protocol: arduino_serial_json
  port: /dev/ttyUSB0
  baud: 9600
  sensor_type: mpu6050
  i2c_address: '0x68'
- id: ultrasonic_sensor
  protocol: arduino_serial_json
  port: /dev/ttyUSB0
  baud: 9600
  sensor_type: hcsr04
  trigger_pin: 12
  echo_pin: 13
- id: ir_line_sensors
  protocol: arduino_serial_json
  port: /dev/ttyUSB0
  baud: 9600
  sensor_type: ir_array
  pins:
  - A0
  - A1
- id: rgb_leds
  protocol: arduino_serial_json
  port: /dev/ttyUSB0
  baud: 9600
  sensor_type: ws2812
  data_pin: 4
  led_count: 2
connection:
  type: serial
  port: /dev/ttyUSB0
  baud: 9600
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:
  setup: '1. Open firmware/elegoo_tumbller_bridge.ino in Arduino IDE. 2. Install libraries:
    MPU6050, Adafruit NeoPixel (via Library Manager). 3. Select "Arduino Nano" + "ATmega328P
    (Old Bootloader)" if upload fails. 4. Upload via USB, then: castor run --config
    elegoo_tumbller.rcan.yaml

    '
  variants:
    tumbller: 2-wheel self-balancing. Uses MPU6050 PID. Requires balancing firmware.
    smart_car_v4: 4-wheel differential drive. Set physics.type to differential_drive.
  second_hand_tips: 'Extremely common on Amazon Warehouse, eBay (~$15-25 used), and
    school donations. The CH340 USB chip may need a driver on Windows: install CH341SER.exe.
    Check all header pins are soldered — the Elegoo PCBs are sometimes poorly soldered.

    '
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