ESP32-C3 Distributed Architecture Specification

Architecture Date: 2025-09-14
Implementation Status: Concept phase, platform evaluation required

System Architecture Overview

Distributed Processing Model: Eliminates multi-conductor signal cables through wireless coordination between specialized ESP32-C3 modules within single H1 organisms.

Base Module (ESP32-C3)

• Primary Function: Motor control and movement planning
• Hardware Interface: XYXY servo/motor control system
• Processing Role: Planning algorithms and path plotting from sensor data
• Communication: BLE central device coordination
• Power Source: Mains powered
• Control Loop: 1Hz planning updates, autonomous operation during dropouts

Tip Module (ESP32-C3)

• Primary Function: Environmental sensing and LED communication arrays
• Hardware Interface: Sensor array (proximity, environmental) and WS2812 LED control
• Processing Role: Local sensor fusion and data preprocessing
• Communication: BLE peripheral device, ~1Hz transmission to base
• Power Source: Battery powered or single power cable from base

Communication Protocol

Primary Interface: Bluetooth Low Energy (BLE)

• Data Rate: ~1Hz sensor updates sufficient for planning-based control
• Latency Tolerance: 10-50ms acceptable for planning algorithms
• Fallback Mode: Base continues autonomous operation with “best guess” during wireless failures
• Protocol: ESP-NOW for reliable inter-module coordination

Data Transmission Specification

// Tip → Base data structure (transmitted ~1Hz)
struct TipSensorData {
    uint16_t proximity_readings[4];    // 8 bytes - directional sensing
    uint8_t light_level;               // 1 byte - photodiode data
    uint8_t battery_voltage;           // 1 byte - power management
    uint8_t environmental_flags;       // 1 byte - status indicators
    // Total: ~11 bytes per transmission
};

Technical Advantages

Cable Elimination:

• Removes 30cm multi-conductor signal routing through tentacle mechanics
• Eliminates robotics cable selection and mechanical wear concerns
• Simplifies tentacle assembly and reduces failure points
• Power wires more robust than data cables for continuous flexing

Modular Development:

• Independent sensor and motor subsystem development and testing
• Parallel development workflows for tip and base functionality
• Isolated debugging environments for each subsystem

Graceful Degradation:

• Base planning algorithms continue autonomous operation during communication failures
• Wireless dropouts handled by “best guess” movement patterns
• System maintains basic territorial exploration without sensor feedback

Multi-Unit Coordination:

• WiFi capability enables distributed memory sharing between organisms
• Coordinated behaviors across multiple H1 units in gallery installations
• Central monitoring and maintenance capabilities

Implementation Considerations

Power Management:

• Tip module battery life critical for wireless operation
• BLE Low Energy optimized for extended operation
• Deep sleep modes between sensor readings

System Reliability:

• Wireless failure modes require robust fallback protocols
• Debugging complexity with distributed wireless architecture
• Physical ESP32-C3 integration within tentacle form factors

Platform Migration:

• Existing RP2040 code requires porting to ESP32-C3 platform
• SimpleFOC library compatibility with ESP32-C3 MCPWM peripheral
• Development ecosystem transition from RP2040 Arduino core

Conceptual Impact: Shifts from cable-dependent single-unit design to distributed wireless organism architecture
Next Phase: ESP32-C3 platform evaluation and wireless protocol development
Integration Status: Concept stage requiring platform migration and distributed system implementation