feat: Architecture expansion - organisms, swarm evolution, memory gradient, infrastructure
New sections created: - organisms/ - Modular robot design (CAN bus + magnetic pogo connectors) - infrastructure/ - Kallax Grid World (40×40×40cm standardized cells) Core documents added: - Swarm-Evolution.md - Ternary clasp rules, escalation ladder (L0-L5), Mount Olympus council - Modular-Organism-Design.md - ESP32 modules, universal connector spec, Phase 0 BOM - Memory-Gradient.md - Metacognitive routing (renamed from RAG-as-Scaffold.md) - Kallax-Grid-World.md - Sim-to-real substrate, "schrotti cyberpunk" aesthetic Enhanced: - Nimmerswarm-Interface.md - Dual-spectrum architecture (IR position + visible state) - Attention-Slumber-Prediction-Cycle.md - Blend marker predictions extension Key insights: Decision markers (mark+continue+predict), Low-Cost-Mocap integration 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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architecture/organisms/Modular-Organism-Design.md
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architecture/organisms/Modular-Organism-Design.md
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# Modular Organism Design
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**One function, one module. Magnetic pogo connectors. CAN bus backbone.**
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---
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## Overview
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Organisms are built from swappable modules, each responsible for a single function. Modules communicate via CAN bus and connect physically through magnetic pogo pin connectors. The same connector serves internal (module↔module) and external (organism↔organism) communication.
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**Design Philosophy:**
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- One function = one module
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- Same connector for everything
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- CAN bus inside, NATS outside
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- Magnetic alignment, pogo pin contact
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- Hot-swappable, idiot-proof
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---
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## The Cellular-Physical Mapping
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Software cells become hardware modules:
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```
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SOFTWARE (Cellular Architecture) HARDWARE (Modular Design)
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──────────────────────────────── ────────────────────────────
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Cell → Module
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State machine → Microcontroller (ESP32)
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Inputs/outputs → Connector pins
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Lifeforce cost → Power budget (mA)
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NATS messages → CAN frames
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Organism → Assembled modules
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```
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---
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## CAN Bus Architecture
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### Why CAN?
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| Feature | Benefit for Organisms |
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|---------|----------------------|
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| **Multi-master** | Any module can initiate communication |
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| **2-wire** | Simple wiring, small connectors |
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| **Error-robust** | Built for automotive noise/vibration |
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| **1 Mbps** | Fast enough for real-time control |
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| **Native ESP32** | No extra hardware needed |
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| **Proven** | Decades of automotive validation |
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### Internal Bus Topology
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```
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ORGANISM INTERNAL ARCHITECTURE
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┌─────────────────────────────────────────────────────────────┐
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│ ORGANISM │
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│ │
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│ ┌──────────┐ ┌──────────┐ ┌──────────┐ ┌──────────┐ │
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│ │ BRAIN │ │ MOTOR │ │ SENSOR │ │ LED │ │
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│ │ MODULE │ │ MODULE │ │ MODULE │ │ MODULE │ │
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│ │ │ │ │ │ │ │ │ │
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│ │ ESP32 │ │ ESP32 │ │ ESP32 │ │ ESP32 │ │
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│ │ + WiFi │ │ + Driver │ │ + ADC │ │ + PWM │ │
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│ └────┬─────┘ └────┬─────┘ └────┬─────┘ └────┬─────┘ │
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│ │ │ │ │ │
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│ └─────────────┴──────┬──────┴─────────────┘ │
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│ │ │
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│ ════════╪════════ │
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│ CAN BUS │
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│ (CAN_H + CAN_L) │
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│ │ │
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│ │ │
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└────────────────────────────┼────────────────────────────────┘
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│
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WiFi Bridge
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│
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▼
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NATS (nimmerverse)
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```
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### CAN Frame Format
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```
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STANDARD CAN FRAME (organism internal)
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┌──────────┬──────────┬──────────────────────────────┐
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│ ID (11b) │ DLC (4b) │ DATA (0-8 bytes) │
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├──────────┼──────────┼──────────────────────────────┤
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│ Module │ Length │ Payload │
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│ address │ │ │
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└──────────┴──────────┴──────────────────────────────┘
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ID ALLOCATION:
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0x000-0x0FF: System messages (heartbeat, errors)
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0x100-0x1FF: Brain module
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0x200-0x2FF: Motor modules
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0x300-0x3FF: Sensor modules
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0x400-0x4FF: LED modules
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0x500-0x5FF: Power modules
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0x600-0x6FF: Gripper/manipulator
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0x700-0x7FF: Reserved/expansion
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```
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### Message Examples
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```c
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// Motor command
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CAN_ID: 0x201
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DATA: [speed_left, speed_right, duration_ms_hi, duration_ms_lo]
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// Sensor reading
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CAN_ID: 0x301
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DATA: [sensor_type, value_hi, value_lo, confidence]
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// LED state update
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CAN_ID: 0x401
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DATA: [led_0, led_1, led_2, led_3, led_4, led_5, led_6, led_7, led_8]
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// Each byte: 0=off, 1=red, 2=green (ternary!)
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// Heartbeat (every module, every 100ms)
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CAN_ID: 0x0XX (where XX = module ID)
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DATA: [status, voltage, temp, error_code]
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```
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---
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## Magnetic Pogo Connector
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### The Universal Connector
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One connector design for ALL connections:
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- Module ↔ Module (internal bus)
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- Organism ↔ Organism (clasp)
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- Organism ↔ Test jig (manufacturing)
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- Organism ↔ Charger (power)
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```
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CONNECTOR FACE (6-pin minimal)
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┌─────────────────────────┐
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│ │
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│ 🧲 🧲 │ ← Alignment magnets
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│ │ (opposite polarity = snap)
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│ ● ● ● │
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│ CAN_H GND VCC │ ← Pogo pins (spring-loaded)
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│ ● ● ● │
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│ CAN_L ID AUX │
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│ │
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│ 🧲 🧲 │ ← Holding magnets
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│ │
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└─────────────────────────┘
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PIN DEFINITIONS:
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CAN_H - CAN bus high
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CAN_L - CAN bus low
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VCC - Power (5V nominal)
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GND - Ground
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ID - Module/organism identification
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AUX - Auxiliary (future expansion)
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```
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### Magnet Arrangement
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```
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POLARITY KEYING (prevents wrong orientation)
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MODULE A (male) MODULE B (female)
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[N] [S] [S] [N]
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● ● ● ● ● ●
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● ● ● ● ● ●
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[S] [N] [N] [S]
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═══════▶ SNAP! ◀═══════
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Magnets guide alignment automatically
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Wrong orientation = repels (won't connect)
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```
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### Physical Specifications
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| Parameter | Value | Notes |
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|-----------|-------|-------|
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| Magnet type | Neodymium N52 | Strong, small |
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| Magnet size | 6mm × 3mm disc | Standard size |
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| Pogo pin pitch | 2.54mm | Standard, easy PCB |
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| Pogo pin travel | 1-2mm | Spring compression |
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| Holding force | ~2N per magnet | 4 magnets ≈ 8N total |
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| Current rating | 2A per pin | Sufficient for motors |
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| Contact resistance | <50mΩ | Gold-plated tips |
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### Connector PCB
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```
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PCB LAYOUT (both sides identical = reversible)
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TOP VIEW SIDE VIEW
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○ ○ ┌─────────────┐
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◉ ◉ ◉ │ ○ ○ │ magnets (recessed)
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◉ ◉ ◉ │ ◉◉◉◉◉◉ │ pogo pins
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○ ○ │ ○ ○ │
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└─────────────┘
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○ = magnet pocket (3mm deep)
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◉ = pogo pin through-hole
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```
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---
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## Module Types
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### Core Modules
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| Module | Function | CAN IDs | Power | Components |
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|--------|----------|---------|-------|------------|
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| **Brain** | Coordination, WiFi→NATS | 0x100-0x1FF | 200mA | ESP32, antenna |
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| **Motor** | Drive wheels/legs | 0x200-0x2FF | 500mA+ | ESP32, H-bridge, encoders |
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| **Sensor** | Environmental sensing | 0x300-0x3FF | 100mA | ESP32, IR, ultrasonic, IMU |
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| **LED** | State display + IR beacon | 0x400-0x4FF | 150mA | ESP32, RGB LEDs, IR LED |
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| **Power** | Battery, distribution | 0x500-0x5FF | N/A | BMS, regulators, monitoring |
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| **Gripper** | Manipulation, clasp | 0x600-0x6FF | 300mA | ESP32, servo, force sensor |
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### Module Responsibilities
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```
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BRAIN MODULE (required, singleton)
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├── WiFi connection to NATS
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├── CAN bus arbitration
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├── High-level behavior coordination
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├── State machine execution
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└── Firmware update distribution
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MOTOR MODULE (1-4 per organism)
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├── Wheel/leg control
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├── Encoder feedback
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├── Speed/position control loops
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├── Collision detection (current sensing)
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└── Emergency stop
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SENSOR MODULE (0-N per organism)
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├── Distance sensing (IR, ultrasonic)
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├── Touch/bump detection
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├── IMU (orientation, acceleration)
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├── Environmental (temp, light)
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└── Sensor fusion (local)
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LED MODULE (required for swarm)
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├── 3x3 RGB matrix (state broadcast)
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├── IR beacon (positioning)
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├── Pattern generation
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├── Brightness control (power saving)
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└── Attention signals (pulsing)
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POWER MODULE (required)
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├── Battery management (charge, discharge)
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├── Voltage regulation (3.3V, 5V)
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├── Current monitoring
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├── Low-battery warning
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└── Safe shutdown coordination
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GRIPPER MODULE (optional)
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├── Servo control
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├── Force feedback
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├── Clasp detection
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├── Object manipulation
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└── Docking assistance
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```
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---
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## Clasp: Organism-to-Organism Connection
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### The Dual-Purpose Connector
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The magnetic pogo connector enables organism-to-organism "clasp":
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```
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CLASP SEQUENCE
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1. APPROACH
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🤖─────────────────────────────────🤖
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Organism A sees B's "ready to teach" LED pattern
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2. ALIGN
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🤖─────────────────────📍🤖
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IR positioning guides approach
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3. DOCK
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🤖══════════════🧲🧲══════════════🤖
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Magnets snap together
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4. CONNECT
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🤖══════════════●●●●══════════════🤖
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CAN buses bridge
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A.CAN ←→ B.CAN
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5. TRANSFER
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🤖══════════════⟷⟷⟷══════════════🤖
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Data flows (weights, state, updates)
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6. VERIFY
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🤖══════════════✓✓✓══════════════🤖
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Both confirm successful transfer
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7. RELEASE
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🤖 🤖
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Separate, continue independently
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```
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### Clasp CAN Protocol
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When two organisms clasp, their CAN buses bridge. Special protocol prevents collisions:
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```
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CLASP PROTOCOL
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1. PRE-CLASP (before physical connection)
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- Both organisms quiet their CAN buses
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- Only heartbeat messages allowed
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2. CONNECTED (physical connection made)
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- Brain modules detect new CAN traffic
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- Exchange organism IDs via CAN
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- Negotiate master/slave (lower ID = master)
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3. TRANSFER PHASE
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- Master sends data packets
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- Slave ACKs each packet
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- CRC verification
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4. COMPLETION
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- Both update internal state
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- Resume normal CAN traffic
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- Physical disconnect safe
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CAN MESSAGE FORMAT (clasp transfer):
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ID: 0x7F0-0x7FF (reserved for inter-organism)
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DATA[0]: packet_type (0=start, 1=data, 2=end, 3=ack, 4=nak)
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DATA[1]: sequence_number
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DATA[2-7]: payload
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```
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### Lifeforce Economics of Clasp
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| Action | Cost | Reward |
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|--------|------|--------|
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| Seek mate with update | -1 LF | |
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| Successful dock | -0.5 LF | |
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| Transfer (teacher) | | +5 LF |
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| Receive (student) | | +5 LF |
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| Verified working (both) | | +5 LF each |
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| **Net per successful clasp** | | **+13.5 LF total** |
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---
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## Physical Form Factors
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### Phase 0: Box Robot
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Simplest form, for initial testing:
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```
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BOX ROBOT (top view)
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┌─────────────────────┐
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│ │
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│ ┌─────────────┐ │
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│ │ LED MODULE │ │ ← 3x3 matrix on top
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│ │ 🔴⚫🟢 │ │
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│ │ 🟢🟢⚫ │ │
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│ │ ⚫🟢🟢 │ │
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│ └─────────────┘ │
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│ │
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│ ┌───┐ ┌───┐ │
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│ │ M │ │ M │ │ ← Motor modules (wheels)
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│ └───┘ └───┘ │
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│ │
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│ ┌───────┐ │
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│ │ BRAIN │ │ ← Brain module (center)
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│ └───────┘ │
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│ │
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└─────────────────────┘
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Size: ~12cm × 12cm × 8cm
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Modules: 4 (brain, LED, 2x motor)
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```
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### Phase 1: Expandable Platform
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```
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EXPANDABLE ROBOT (side view)
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LED MODULE
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||||
┌─────────┐
|
||||
│ 🔴⚫🟢 │
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||||
│ matrix │
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||||
└────┬────┘
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||||
│ (connector)
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||||
┌────────┴────────┐
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||||
│ BRAIN MODULE │
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||||
│ + POWER │
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│ │
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||||
├─────┬─────┬─────┤
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||||
│ CON │ CON │ CON │ ← Expansion connectors
|
||||
└──┬──┴──┬──┴──┬──┘
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||||
│ │ │
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||||
┌──┴──┐ │ ┌──┴──┐
|
||||
│MOTOR│ │ │MOTOR│
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||||
│ L │ │ │ R │
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||||
└─────┘ │ └─────┘
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┌──┴──┐
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||||
│SENSOR│ ← Optional front sensor
|
||||
└─────┘
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||||
```
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||||
|
||||
### Future: Modular Limbs
|
||||
|
||||
```
|
||||
ARTICULATED ORGANISM
|
||||
|
||||
LED
|
||||
┌───┐
|
||||
│ │
|
||||
┌──────┴───┴──────┐
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||||
│ BRAIN │
|
||||
│ │
|
||||
└──┬──┬──┬──┬──┬──┘
|
||||
│ │ │ │ │
|
||||
┌─┴┐┌┴─┐│┌─┴┐┌┴─┐
|
||||
│L1││L2│││L3││L4│ ← Leg modules
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||||
└┬─┘└┬─┘│└┬─┘└┬─┘ (each with own ESP32)
|
||||
│ │ │ │ │
|
||||
┌┴┐ ┌┴┐┌┴┐┌┴┐ ┌┴┐
|
||||
│F│ │F││S││F│ │F│ ← Foot/sensor modules
|
||||
└─┘ └─┘└─┘└─┘ └─┘
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||||
```
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||||
|
||||
---
|
||||
|
||||
## Manufacturing Considerations
|
||||
|
||||
### Module Production Pipeline
|
||||
|
||||
```
|
||||
MANUFACTURING FLOW
|
||||
|
||||
1. PCB FABRICATION
|
||||
└── Standard 2-layer PCB
|
||||
└── Connector pads + pogo holes
|
||||
└── Same design, different components
|
||||
|
||||
2. COMPONENT ASSEMBLY
|
||||
└── ESP32 module (same for all)
|
||||
└── Function-specific components
|
||||
└── Pogo pins (press-fit)
|
||||
└── Magnets (glued/press-fit)
|
||||
|
||||
3. FIRMWARE FLASH
|
||||
└── Connect via test jig (same connector!)
|
||||
└── Flash base firmware
|
||||
└── Set module type ID
|
||||
|
||||
4. TEST
|
||||
└── Snap into test harness
|
||||
└── Automated CAN test
|
||||
└── Function verification
|
||||
|
||||
5. INVENTORY
|
||||
└── Modules stored by type
|
||||
└── Ready for organism assembly
|
||||
```
|
||||
|
||||
### Test Jig Design
|
||||
|
||||
The universal connector means one test jig fits all:
|
||||
|
||||
```
|
||||
TEST JIG
|
||||
|
||||
┌─────────────────────────┐
|
||||
│ MODULE UNDER │
|
||||
│ TEST │
|
||||
│ │
|
||||
│ 🧲 ●●●●●● 🧲 │ ← Same connector!
|
||||
└───────────┬─────────────┘
|
||||
│
|
||||
│ (magnetic snap)
|
||||
│
|
||||
┌───────────┴─────────────┐
|
||||
│ 🧲 ●●●●●● 🧲 │
|
||||
│ │
|
||||
│ TEST JIG BASE │
|
||||
│ - CAN analyzer │
|
||||
│ - Power supply │
|
||||
│ - USB programmer │
|
||||
│ - Status LEDs │
|
||||
└─────────────────────────┘
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Connection to Existing Architecture
|
||||
|
||||
### Module → Cell Mapping
|
||||
|
||||
| Module | Software Cell Equivalent |
|
||||
|--------|-------------------------|
|
||||
| Brain | Organism coordinator, state machine runner |
|
||||
| Motor | Movement cells (forward, turn, stop) |
|
||||
| Sensor | Perception cells (distance, collision) |
|
||||
| LED | Output cells (state display, beacon) |
|
||||
| Power | Lifeforce analog (energy management) |
|
||||
| Gripper | Interaction cells (clasp, manipulate) |
|
||||
|
||||
### CAN → NATS Bridge
|
||||
|
||||
```
|
||||
MESSAGE FLOW
|
||||
|
||||
MODULE (CAN) NIMMERVERSE (NATS)
|
||||
│ │
|
||||
│ CAN frame │
|
||||
│ ID: 0x301 │
|
||||
│ DATA: [sensor, value] │
|
||||
│ │ │
|
||||
└─────────┼────────────────────────┘
|
||||
│
|
||||
▼
|
||||
┌───────────┐
|
||||
│ BRAIN │
|
||||
│ MODULE │
|
||||
│ │
|
||||
│ CAN→NATS │
|
||||
│ bridge │
|
||||
└─────┬─────┘
|
||||
│
|
||||
│ NATS message
|
||||
│ topic: organism.001.sensor.distance
|
||||
│ data: {"type": "ir", "value": 42, "confidence": 0.9}
|
||||
│
|
||||
▼
|
||||
NATS SERVER
|
||||
│
|
||||
▼
|
||||
PHOEBE / NYX
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Bill of Materials (Per Module)
|
||||
|
||||
### Common Components (All Modules)
|
||||
|
||||
| Component | Qty | Est. Cost | Notes |
|
||||
|-----------|-----|-----------|-------|
|
||||
| ESP32-WROOM-32 | 1 | ~4 CHF | Main MCU |
|
||||
| CAN transceiver (SN65HVD230) | 1 | ~1 CHF | CAN interface |
|
||||
| Voltage regulator (AMS1117-3.3) | 1 | ~0.5 CHF | Power |
|
||||
| Pogo pins (6-pack) | 1 | ~2 CHF | Connector |
|
||||
| Neodymium magnets (4x) | 1 | ~2 CHF | Alignment |
|
||||
| PCB | 1 | ~2 CHF | Custom, batch order |
|
||||
| Capacitors, resistors | misc | ~0.5 CHF | Passives |
|
||||
| **Module base cost** | | **~12 CHF** | |
|
||||
|
||||
### Function-Specific Additions
|
||||
|
||||
| Module Type | Additional Components | Est. Cost |
|
||||
|-------------|----------------------|-----------|
|
||||
| Brain | PCB antenna trace | +0 CHF |
|
||||
| Motor | DRV8833 + motors + wheels | +15 CHF |
|
||||
| Sensor | IR + ultrasonic | +5 CHF |
|
||||
| LED | WS2812B (9x) + IR LED | +3 CHF |
|
||||
| Power | BMS + LiPo cell | +20 CHF |
|
||||
| Gripper | SG90 servo + mech | +10 CHF |
|
||||
|
||||
### Complete Phase 0 Organism
|
||||
|
||||
| Module | Qty | Cost |
|
||||
|--------|-----|------|
|
||||
| Brain | 1 | 12 CHF |
|
||||
| Motor | 2 | 54 CHF (12+15 × 2) |
|
||||
| LED | 1 | 15 CHF |
|
||||
| Power | 1 | 32 CHF |
|
||||
| **Total** | 5 | **~113 CHF** |
|
||||
|
||||
---
|
||||
|
||||
## Related Documents
|
||||
|
||||
- [[Nimmerswarm-Interface]] — LED state broadcasting + IR positioning
|
||||
- [[Cellular-Architecture]] — Software cell design (maps to modules)
|
||||
- [[infrastructure/Kallax-Grid-World]] — Physical environment
|
||||
- [[cells/Cells-Technical-Reference]] — Cell state machine patterns
|
||||
|
||||
---
|
||||
|
||||
**File**: Modular-Organism-Design.md
|
||||
**Version**: 1.0
|
||||
**Created**: 2025-12-29
|
||||
**Session**: Morning coffee + vermicelles session (dafit + Nyx)
|
||||
**Status**: Core hardware concept
|
||||
**Philosophy**: "One function, one module. Same connector everywhere."
|
||||
|
||||
🔧🧲⚡ *Snap together. Communicate. Evolve.*
|
||||
|
||||
Reference in New Issue
Block a user