Makeblock_mBot

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Makeblock_mBot
  robot_uuid: fdd5fc13-ff4c-4b38-9f1b-8a76581d1610
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - mobile
  - educational
  - makeblock
  - mbot
  - arduino
  - stem
  - second-hand
  description: 'Makeblock mBot — one of the most popular STEM toy robots ever made
    (~$50 new). Abundantly available on eBay, Amazon Warehouse, and Goodwill. Based
    on the Makeblock Orion board (Arduino Mega-compatible) with integrated TB6612FNG
    dual motor driver. Connects via USB serial, 2.4GHz wireless module, or BLE dongle.
    Two DC gearmotors (6V, 200 RPM), ultrasonic sensor, line-follower sensor, buzzer.

    '
  rrn: RRN-561092813372
  rrn_uri: rrn://community/robot/opencastor/makeblock-mbot/makeblock_mbot
agent:
  provider: anthropic
  model: claude-sonnet-4-5
  vision_enabled: false
  latency_budget_ms: 200
  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: 170
    wheel_radius_mm: 26
drivers:
- id: motor_driver
  protocol: makeblock_serial
  port: /dev/ttyUSB0
  baud: 115200
  channels:
    left_motor: 1
    right_motor: 2
  motor_voltage_v: 6.0
  max_pwm: 255
- id: ultrasonic_sensor
  protocol: makeblock_serial
  port: /dev/ttyUSB0
  baud: 115200
  sensor_type: ultrasonic
  mcore_port: 3
- id: line_follower
  protocol: makeblock_serial
  port: /dev/ttyUSB0
  baud: 115200
  sensor_type: line_follower
  mcore_port: 2
- id: rgb_led
  protocol: makeblock_serial
  port: /dev/ttyUSB0
  baud: 115200
  sensor_type: on_board_rgb
- id: buzzer
  protocol: makeblock_serial
  port: /dev/ttyUSB0
  baud: 115200
  sensor_type: buzzer
connection:
  type: serial
  port: /dev/ttyUSB0
  baud: 115200
  ble_alternative:
    enabled: false
    baud: 9600
network:
  telemetry_stream: true
  sim_to_real_sync: false
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - nav
  - teleop
  - chat
  enable_mdns: false
  enable_jwt: false
notes:
  setup: "1. Install mBlock 5 or Arduino IDE with Makeblock libraries. 2. Flash the\
    \ \"Makeblock default firmware\" (Scratch firmware) to the mCore.\n   This firmware\
    \ accepts the serial command protocol OpenCastor uses.\n3. pip install pyserial\
    \ makeblock (community Python library) 4. castor run --config makeblock_mbot.rcan.yaml\n"
  second_hand_tips: 'Check that the USB-B port on the mCore board is not damaged (very
    common). The Orion board is the older larger version; mCore is the integrated
    newer one. Both are compatible with this preset. BLE 2.4G modules can be missing
    — USB serial always works as a fallback.

    '
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