Replacing Vector Robot Brain Board
Worked for 1 min 54 sec
Created a project doc
Passive Wiretap Board Status
This board has been redesigned as a safe listen-only wiretap for the Vector head/body 4-wire cable. It no longer includes the ESP32-C3 or ac...
Done — I redesigned it as a passive listen-only wiretap.
What changed:
- Removed ESP32-C3 and level-shifter from the signal path.
- Kept only headers + protection resistors.
- Mapped the confirmed Vector wires:
- black
GND - red
VMAIN - white
BODY_RX - green
TX1.8
- black
- Routed the simplified PCB.
- Ran ERC/DRC checks: no errors/warnings came back in the checked categories.
Saved status here:
Passive Wiretap Board Status
Passive Wiretap Board Status
Open item:
- This is still a hand-wired/probe board, not the final drop-in Vector connector board.
Document, BOM, export
Create wiring guide
Check BOM cost
Export files
Review manufacturability
Refine this doc
Ask about this doc
Actual Reverse Engineering Deliverables
Generated Toolkit
A downloadable Python toolkit was generated for the Vector head/body protocol reverse-engineering workflow.
File generated:
vector-re-toolkit.zip
Contents:
README.mdrequirements.txttools/parse_saleae_uart.pytools/packet_cluster.pytools/detect_baud_notes.mdvector_body/messages.pyvector_body/protocol.pyvector_body/transport.pydiagnostics/body_cli.pydocs/hardware_capture_checklist.mddocs/connector_map_template.csvdocs/capture_log_template.csvtests/test_protocol.py
What The Toolkit Does
UART capture parsing
tools/parse_saleae_uart.py:- Reads Saleae-style UART CSV exports.
- Supports TX and RX capture files.
- Sorts bytes by timestamp.
- Splits likely packets using an inter-byte timing gap.
- Prints timestamp, direction, length, hex bytes, and ASCII hint.
Packet clustering
tools/packet_cluster.py:- Reads parsed packet text.
- Groups packets by direction, length, and byte prefix.
- Helps spot repeated message types.
Protocol stubs
vector_body/messages.py and vector_body/protocol.py:- Define packet/message classes.
- Provide checksum/packet-analysis placeholders.
- Are intentionally conservative because the real protocol must be learned from captures.
Guarded diagnostic CLI
diagnostics/body_cli.py:- Skeleton CLI for future serial diagnostics.
- Refuses to transmit unless explicitly launched with
--unsafe-enable-tx. - This is intentional because transmitting to Vector’s body board before decoding the protocol could damage hardware or trigger unsafe motor behavior.
Hardware Capture Checklist
Required tools
- Logic analyzer with UART decoder.
- Multimeter.
- Fine probe hooks or soldered test wires.
- Common ground connection.
- Optional oscilloscope.
- Optional 2.8 V-safe USB UART adapter or level shifter for later transmit tests.
Signals to identify first
- GND
- 2.8 V logic rail
- VBAT / battery voltage
- BODY_TX
- BODY_RX
- TXD
- RXD
- SCL2
- SDA2
- USB D+
- USB D-
Capture sessions to record
- Robot powered off / battery connected idle.
- Boot sequence from cold start.
- Idle after boot.
- Wake/listen event.
- Voice command that causes no movement.
- Voice command that causes movement.
- Manual lift/head movement if possible.
- Docking/charging event.
- Low-battery or charger attach/detach event if safe.
Capture settings
- Start with passive high-impedance probing only.
- Capture BODY_TX and BODY_RX simultaneously.
- Try common UART baud rates if unknown: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600.
- Logic threshold should match observed logic level, likely around 2.8 V logic.
- Do not inject signals yet.
- Do not drive motors from external hardware yet.
Naming convention
Use filenames like:
Text
captures/uart/2026-07-06_boot_115200_bodytx.csv captures/uart/2026-07-06_boot_115200_bodyrx.csv captures/uart/2026-07-06_move_forward_115200_bodytx.csv captures/uart/2026-07-06_move_forward_115200_bodyrx.csv
Connector Map Template
For each connector/pad group, record:
CSV Data
connector pin label wire_color measured_voltage_off measured_voltage_on signal_guess confidence notes P1 1 GND black 0 0 GND high P1 2 2V8 red 0 2.8 logic power medium P1 3 BODY_TX unknown UART low
Capture Log Template
For each logic-analyzer capture, record:
CSV Data
capture_id date robot_state signals baud logic_threshold filename_tx filename_rx notes 001 2026-07-06 cold boot BODY_TX/BODY_RX 115200 1.4V boot_tx.csv boot_rx.csv
Next Step
Collect one clean boot capture of BODY_TX/BODY_RX and run:
Bash
python tools/parse_saleae_uart.py --tx boot_tx.csv --rx boot_rx.csv --gap-ms 10 python tools/packet_cluster.py parsed_packets.txt
Then update the protocol stubs based on repeated packet patterns.
Generated Toolkit
What The Toolkit Does
UART capture parsing
Packet clustering
Protocol stubs
Guarded diagnostic CLI
Hardware Capture Checklist
Required tools
Signals to identify first
Capture sessions to record
Capture settings
Naming convention
Connector Map Template
Capture Log Template
Next Step
