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›About kiwi
LeKiwi drill-actuator rover rebuild (cagataycali, live project, started 2026-08-02): 3-wheel holonomic LeRobot-ecosystem base being converted from stock Dynamixel bus servos to 3x custom drill-motor actuators (ESP32+BTS7960B H-bridge+AS5600 magnetic encoder+ACS758 50A current sensor+DS18B20 temp probe), coordinated via the existing onboard Raspberry Pi doing inverse kinematics (vx/vy/ω → 3 wheel speeds). Regen/brake risk resolved to coast-mode (no BMS overcharge risk). Nicla Vision assigned as centralized perception/coordinator node (camera+ToF+IMU, ~10-30Hz), NOT per-wheel controller (pin-scarce). Collaborator Mert Özbaş (@mertozbas) productized his own actuator as "Hashtag TorqueDrive TD-12" with CAN bus/UART, 10-20V DC in, integrated magnetic encoder — CAN bus resolves the ESP32↔Pi coordination protocol question. US PoC BOM ~$300-420 for 3 actuators (Pololu/Amazon/McMaster sourced). Phase plan: Phase0 single-axis MVP → Phase1 gear-ratio+single-wheel load test → Phase2 3x production+kinematics software → Phase3 LeKiwi mount → Phase4 tiny.technology device enroll+telemetry → Phase5 field test. Distinct from scout-the-rover (FrodoBots Earth Rover) — this is a separate custom platform.