BalanceBot-X is the modular robot MCU control platform for X-Gen-Lab.
xgen-balancebot is not only a two-wheel self-balancing robot repository. The self-balancing robot is the first validation scenario; the long-term goal is a reusable robot control board and system integration target that connects MCU firmware, power, sensing, motor control, safety, Linux host bridging, and ROS2.
| Item | Decision |
|---|---|
| Public project name | BalanceBot-X |
| Repository name | xgen-balancebot |
| Primary language | Chinese first, English placeholder |
| Documentation system | MkDocs |
| V1 canonical MCU | STM32H743 / STM32H750 |
| RTOS direction | Zephyr |
| Device link | Reuse xgen-link |
| Repository role | Robot integration repository |
This repository owns the robot integration boundary:
- Balance control application and validation flow.
- V1 canonical control board architecture.
- Hardware interfaces for power, motors, encoders, IMU, communication, safety, storage, and factory test.
- Zephyr application, service, driver, and middleware boundaries.
- Linux host bridge assumptions.
- ROS2 interface model and integration boundary.
This repository does not replace:
xgen-link: reusable embedded device link and protocol framework.xgen-zephyr-platform: reusable Zephyr MCU platform foundation.xgen-ros2-lab: ROS2 experiments, simulation, and reusable middleware examples.
| Version | Goal | Done When |
|---|---|---|
| V0 validation board | Validate IMU, encoder, PWM motor output, safety stop, and Zephyr task flow | A bench setup can repeat sensor-read, control-output, and safe-stop checks |
| V1 functional board | Define STM32H743 canonical robot control board | Hardware architecture, interfaces, protection, and bring-up checklist are complete |
| V2 product board | Add production-grade electrical robustness and testability | Power integrity, ESD/EMI, protection, factory test, and logging are designed |
| V3 platform board | Extend to richer robot platform integration | ESP32-S3, Ethernet, MicroSD, external Flash, sensor expansion, and host connector are planned |
The documentation site is organized with MkDocs.
mkdocs serve
mkdocs buildPublished documentation: https://x-gen-lab.github.io/xgen-balancebot/
Chinese documentation is the current source of truth. English pages are placeholders until translation catches up.
docs/ MkDocs documentation
firmware/ Zephyr-oriented firmware application and module skeleton
hardware/ Control board architecture, versions, interfaces, and production test notes
host/ Linux host bridge boundary
protocol/ Machine-readable BalanceBot-X message contract
ros2/ ROS2 interface boundary
tools/ Project tooling entry points