Wheelbot

The archived firmware has a published erratum

The README identifies an incorrect transform from averaged body rates to Euler rates in the original state estimator. The inspected main.c still contains the matrix described as erroneous. Upstream explains that its experiments stayed close to the upright equilibrium, where the transforms were nearly equal; that explanation is not a general validation of the implementation away from upright. The repository includes a notebook explaining the corrected calculation. [S001] [S005] [S006]

Before using this snapshot for a new experiment, reconcile the erratum with the selected firmware and verify the resulting estimator. This publication has not patched, compiled or tested a correction. The known implementation issue is distinct from the broader absence of a reproduction test. [S001] [S005]

Fabrication includes more than printed parts

The documented print setup uses a Markforged Onyx One, Onyx material and 0.2 mm layers. The mechanical folder also supplies a drawing for cut copper reaction-wheel rings and an interactive assembly PDF. These are useful manufacturing references, but they do not establish that a different print material or an unreviewed wheel substitution will preserve the intended mechanics. [S001] [S006]

The motherboard connects to a Maevarm M2 and supplies the uDriver-v2. A separate M2 dongle handles wireless communication with the computer. The archived spreadsheet lists motherboard components, package names and part references; it is not a complete robot BOM or a current delivered-build quote. The full cost remains unknown. [S001] [S007]

Preserve the development environment with the design

The simulation folder separates symbolic dynamics derivation from the Simulink model used for estimator and LQR tuning. The README recommends MATLAB R2020a and says to run the LQR-design step (s00_designLQR) before running s01_unicycle.slx. It describes the Python computer interface on Ubuntu 18.04. Those are historical setup details, not evidence of compatibility with current tool versions. [S001]

The repository includes a GPL v3 license. External boards, software libraries and development tools require their own rights and availability checks. This profile records a useful research design and a concrete estimator issue; no manufacturing, firmware build, simulation or physical balancing experiment was performed. [S003]