robotrace-hardware-review

name	robotrace-hardware-review
description	robotrace_v2の機体、KiCad回路、CubeMX ioc、センサー配置、配線、電源、ピン割り当て、機体寸法変更を確認するときに使う。ハード変更のコード反映確認も扱う。

Robotrace Hardware Review

Overview

Use this skill when checking machine or circuit information, reviewing hardware changes, or deciding what firmware parameters must change after hardware work.

Source Order

Before inferring hardware behavior, inspect the relevant sources:

• Machine/robotrace_v2 v86.step
• Circuit/robotrace_v2_main_v2/
• Circuit/robotrace_v2_Linesensor/
• Circuit/robotrace_v2_Sidemarker/
• Circuit/robotrace_v2_Extended_UI/
• robotrace_v2/robotrace_v2.ioc
• related firmware source and headers

Do not infer pin assignments, sensor wiring, power rails, or connector meaning from variable names alone.

Review Checklist

For machine or circuit changes, check at least:

• sensor count, ordering, and direction
• line sensor and marker sensor ADC channels
• GPIO assignments and LED timing
• motor left/right mapping
• PWM channels
• rotation direction
• encoder direction
• reduction ratio
• tire diameter
• encoder conversion factors
• IMU mounting direction, sign, and communication settings
• battery divider ratio and ADC conversion factors
• current sensor presence, direction, and scale
• buttons, display, and extended UI board connection
• microSD SPI, CS, power, and card-detect handling

Reporting Rules

• Separate confirmed facts from inference.
• State which STEP, KiCad, PDF, .ioc, or source file was checked.
• Explicitly list real-machine confirmation items such as clearance, polarity, connector pinout, supply voltage, sensor direction, and mounting position.
• If code must be updated, identify the related definitions, log schema, parameter storage format, and AGENTS.md sections that must stay consistent.

Firmware Consistency

When hardware data changes, verify consistency with:

• AGENTS.md hardware configuration and dimensions
• code parameters for tire diameter, tread width, encoder conversion, ADC scale, GPIO, timers, and DMA
• log schema fields if the meaning of data changes
• SD parameter files if stored values depend on hardware dimensions