Mobile platform firmware

Teensy 4.0 micro-ROS motor control, encoder odometry, IMU integration and debug telemetry.

openamr-platform-fw owns embedded control for the mobile base. The firmware running today is a documented overlay on the pinned linorobot2_hardware Jazzy source, not yet the planned modular firmware/ decomposition.

Area	Current implementation
Target	Teensy 4.0
Transport	micro-ROS serial agent
Motion	Low-level motor control from `/cmd_vel`
State	Encoder odometry and raw IMU publication
Calibration	Host-side encoder ripple alignment after each Teensy power cycle
Diagnostics	`/debug/*` telemetry and gated powered-debug paths

Build and flash use PlatformIO plus the Teensy loader. The upstream overlay base is pinned in the repository for reproducibility.

Powered debugging

Some debug paths command real motors. Keep wheels clear of the ground, maintain a tested physical stop and follow the repository's motion-safety instructions before enabling powered debug.