🤖 Micro-Robot-Gen: Architecture & Development Plan

"From IoT Simplicity to Robotics Complexity"

Date: 2026-01-06
Status: Planning Phase
Target: Create a comprehensive robot design and firmware generation tool

---

📊 1. Architecture Analysis: micro-iot-gen

1.1 Core Components

Technology Stack: - Framework: Next.js 14 (App Router) - State Management: Zustand - Language: TypeScript - Styling: Tailwind CSS

Key Modules:

micro-iot-gen/
├── lib/
│   ├── store.ts              # Zustand state (board, modules, config)
│   ├── hardware/
│   │   ├── board-defs.ts     # ESP32/ESP8266 pin definitions
│   │   └── pin-allocator.ts  # Auto pin assignment logic
│   └── generator/
│       └── code-gen.ts       # Arduino code generation
├── data/
│   ├── modules.ts            # 20+ sensor/actuator definitions
│   └── libraries.ts          # Arduino library metadata
└── components/
    ├── BoardSelector.tsx     # UI for board selection
    ├── ModuleList.tsx        # Drag-drop module interface
    └── CodePreview.tsx       # Generated code display

1.2 Key Design Patterns

1. Module Definition System: Each sensor/actuator is a JSON-like object with:
2. Pin requirements (digital-in, analog-in, pwm, i2c)
3. Code templates (constructor, setup, loop)
4. Power consumption

5. Library dependencies

6. Pin Allocator: Smart algorithm that:

7. Reserves pins for modules
8. Handles shared buses (I2C, SPI)
9. Prevents conflicts

10. Prefers "safe" pins (avoids boot-critical pins)

11. Code Generation: Template-based system:

    constructorCode: 'DHT dht_{{ID}}({{PIN_0}}, DHT22);'
    

    Replaced with actual pin numbers and unique IDs

---

🎯 2. Micro-Robot-Gen: Vision & Scope

2.1 Fundamental Differences

Aspect	IoT Gen	Robot Gen
Complexity	Static sensors	Dynamic motion control
Calculations	None	Kinematics, Torque, PID
Safety	Basic	Critical (collision, emergency stop)
Power	Simple sum	Peak current, motor stall protection
Feedback	One-way telemetry	Closed-loop control (encoders)

2.2 Target Robot Types

1. Differential Drive (2-wheel rover)
2. Mecanum Wheels (4-wheel omnidirectional)
3. Robot Arm (2-6 DOF)
4. Hexapod (6-leg walker)
5. Drone (Quadcopter - future)

---

🏗️ 3. System Architecture

3.1 Technology Stack

micro-robot-gen/
├── Framework: Next.js 14 (TypeScript)
├── State: Zustand + Immer (for complex nested state)
├── 3D Visualization: Three.js / React Three Fiber
├── Calculations: Math.js library
├── PCB Design: KiCad Python API (future)
└── UI Theme: Cyberpunk Robotics (dark + neon orange/red)

3.2 Core Modules

A. Robot Configuration Store

interface RobotState {
  robotType: 'differential' | 'mecanum' | 'arm' | 'hexapod';
  chassis: {
    wheelDiameter: number;    // mm
    wheelBase: number;        // mm (distance between wheels)
    weight: number;           // kg
    maxSpeed: number;         // m/s
  };
  motors: MotorConfig[];
  sensors: SensorConfig[];
  power: PowerConfig;
  kinematics: KinematicsData;
}

B. Calculator Modules

1. Motor Calculator

interface MotorCalculator {
  calculateTorque(weight: number, wheelDiameter: number): number;
  selectMotor(requiredTorque: number): MotorRecommendation;
  calculateGearRatio(motorRPM: number, desiredSpeed: number): number;
}

2. Power Budget Calculator

interface PowerCalculator {
  calculatePeakCurrent(motors: Motor[], sensors: Sensor[]): number;
  selectBattery(runtime: number, current: number): BatterySpec;
  designVoltageRegulator(inputV: number, outputV: number, current: number): RegulatorSpec;
}

3. Kinematics Calculator

interface KinematicsCalculator {
  // Differential Drive
  calculateWheelVelocities(linearV: number, angularV: number): [number, number];

  // Robot Arm
  forwardKinematics(jointAngles: number[]): Position3D;
  inverseKinematics(targetPos: Position3D): number[];
}

4. PID Tuner

interface PIDTuner {
  suggestParameters(systemType: string): PIDGains;
  simulateResponse(kp: number, ki: number, kd: number): ResponseCurve;
}

C. Component Library

Motor Drivers: - L298N (2A per channel) - TB6612FNG (1.2A per channel) - DRV8833 (1.5A per channel) - PCA9685 (16-channel PWM for servos)

Sensors: - HC-SR04 (Ultrasonic) - MPU6050 (IMU - Gyro + Accel) - Rotary Encoder (Motor feedback) - VL53L0X (ToF Distance)

Power Components: - LM2596 (Buck Converter) - TP4056 (Li-ion Charger) - AMS1117 (LDO Regulator)

D. Code Generator

Enhanced Template System:

// Motor Control Template
class MotorController_{{ID}} {
private:
  int pinA = {{PIN_A}};
  int pinB = {{PIN_B}};
  int pinPWM = {{PIN_PWM}};
  int encoder = {{PIN_ENC}};

  // PID Variables
  float kp = {{KP}};
  float ki = {{KI}};
  float kd = {{KD}};

public:
  void setSpeed(int speed) {
    // Generated PID control code
  }
};

E. Visual Designer

Features: 1. 3D Robot Preview: Show chassis, wheels, sensors in 3D 2. Component Placement: Drag-drop sensors onto robot body 3. Wiring Diagram: Auto-generate connection diagram 4. PCB Layout: Visual pin assignment on ESP32 board

---

🎨 4. UI/UX Design

4.1 Theme: "Robotics Command Center"

• Color Scheme:
• Background: #0a0a0a (deep black)
• Primary: #ff6b35 (robot orange)
• Secondary: #f72585 (neon pink)
• Accent: #4cc9f0 (electric blue)
• Typography:
• Headers: "Orbitron" (futuristic)
• Body: "Inter" (clean, readable)
• Effects:
• Glassmorphism panels
• Animated circuit board background
• Glowing borders on active components

4.2 Page Structure

/
├── /configure        # Robot type & chassis setup
├── /motors           # Motor selection & calculation
├── /sensors          # Sensor placement
├── /power            # Power system design
├── /kinematics       # Motion planning
├── /pcb              # PCB layout generator
├── /code             # Firmware preview & download
└── /simulate         # 3D simulation (future)

---

📋 5. Development Roadmap

Phase 1: Foundation (Week 1-2)

• [x] Analyze micro-iot-gen architecture ✅
• [ ] Create project structure
• [ ] Setup Next.js + TypeScript + Tailwind
• [ ] Design state management schema
• [ ] Create basic UI layout

Phase 2: Calculator Modules (Week 3-4)

• [ ] Motor torque calculator
• [ ] Power budget calculator
• [ ] Kinematics calculator (differential drive)
• [ ] PID parameter tuner
• [ ] Voltage divider calculator

Phase 3: Component Library (Week 5-6)

• [ ] Define motor driver modules
• [ ] Define sensor modules
• [ ] Define power component modules
• [ ] Create component database

Phase 4: Code Generator (Week 7-8)

• [ ] Template engine
• [ ] Motor control code generation
• [ ] Sensor integration code
• [ ] PID controller code
• [ ] Complete firmware assembly

Phase 5: Visual Designer (Week 9-10)

• [ ] 3D robot preview (Three.js)
• [ ] Component placement UI
• [ ] Wiring diagram generator
• [ ] Pin assignment visualizer

Phase 6: PCB Tools (Week 11-12)

• [ ] Gerber file generator
• [ ] BOM exporter
• [ ] Schematic diagram generator
• [ ] PCB layout optimizer

---

🧮 6. Key Algorithms

6.1 Motor Torque Calculation

Required Torque (Nm) = (Weight × Gravity × Wheel Radius) / Gear Ratio

6.2 Differential Drive Kinematics

Left Wheel Speed = Linear Velocity - (Angular Velocity × Wheel Base / 2)
Right Wheel Speed = Linear Velocity + (Angular Velocity × Wheel Base / 2)

6.3 Power Budget

Peak Current = Σ(Motor Stall Current) + Σ(Sensor Current) + 20% Safety Margin
Battery Capacity (mAh) = Average Current × Runtime (hours) × 1000

6.4 PID Control

Output = Kp × Error + Ki × Σ(Error) + Kd × (Error - Previous Error)

---

🎯 7. Success Criteria

Minimum Viable Product (MVP)

• [ ] Generate firmware for 2-wheel differential drive robot
• [ ] Calculate motor requirements from weight/speed
• [ ] Auto-assign pins for 2 motors + 1 ultrasonic sensor
• [ ] Generate complete Arduino code with PID control
• [ ] Export BOM (Bill of Materials)

Full Feature Set

• [ ] Support 4 robot types (differential, mecanum, arm, hexapod)
• [ ] 3D visual designer
• [ ] PCB Gerber file generation
• [ ] Real-time simulation
• [ ] Integration with Genesis AI OS

---

📦 8. Deliverables

Documentation

• [ ] User Guide (TH/EN)
• [ ] API Reference
• [ ] Component Database
• [ ] Example Projects

Code

• [ ] GitHub Repository: micro-robot-gen
• [ ] npm Package (calculator modules)
• [ ] Arduino Library Templates

Tools

• [ ] Web Application (localhost)
• [ ] CLI Tool (optional)
• [ ] VS Code Extension (future)

---

Planning Document v1.0 - Created by Antigravity Next: Begin Phase 1 Implementation