Internal Build Log

The machine all the boards and brackets are parts of. Sprung hull floating inside a braced hexagonal frame, vertical shaft carrying an off-center mass on a moving carriage, two thrusters holding heading into the swell. Includes what got decided today — two pillow blocks instead of a tether, vertical shaft so the seal sits above the waterline, arm radius capped by the dome — and an honest inventory of what is actually built versus what is a render.

The clean board: five driver axes (yaw became a stepper), four SN74AHCT125N buffers, eleven 1k pull-downs, decoupling, eleven test points, and an ESP32 footprint measured at a real 25.4 mm so the module finally seats. J11 deleted. Connector map, GPIO assignment, assembly order, and the three-method verification run before ordering.

Visual pin map for the downstairs sensor ESP32: all 7 KY-003 Hall sensors (X/Y/Z1/Z2/Yaw/Pitch/Roll), MPU-6050 I²C wiring, the coiled-USB flex-cable standard, Blynk datastreams, and the quota-safe firmware settings.

Full build reference for the 4-axis level-shifter board: labeled layout, ESP32 jumper wiring, verified GPIO pin map, DM542T driver wiring, and DIP-switch settings. Includes the J1 footprint defect + jumper workaround.