v2.5.0 — Yana Wheelbot

Yana Wheelbot — first release

This release adds a wheeled-robot board and its full companion tooling on top of the existing Yana Robot / XiaoZhi voice-AI platform: firmware, a 3D-printable chassis, and a local web controller — plus a round of safety hardening on all three before shipping.

New board: yana-wheelbot

• Differential-drive movement with a selectable motor backend: continuous-rotation servo pair or L298N DC driver.
• Anti-fall ToF sensor (VL6180X or VL53L0X, build-time selectable), fail-safe on sensor error, with a movement-inhibit latch so a detected edge actually blocks further movement instead of just interrupting the move already in progress.
• Arm + neck servos (wave gesture, neck turn/center, live angle control).
• Dual LEDs, switchable display orientation/theme.
• A local LAN WebSocket control endpoint (ws://<device-ip>:8080/ws), token-paired, independent of the cloud/voice channel — now also emergency-stopping the motor if the controlling client disconnects mid-move.

New app: apps/controller-web

• Browser-based manual controller: D-pad + keyboard (WASD/arrows) + gamepad, dead-man safety pulse, live arm/neck sliders, anti-fall and motor status polling.
• Redesigned around Yana AI's own navy brand palette.
• Localized: English, Vietnamese (Tiếng Việt), and Korean (한국어), auto-detected from the browser and switchable from the header.

New: printable chassis

• Parametric OpenSCAD chassis (V2) integrating the full supplied component set: ESP32-S3, ST7735 display, INMP441 mic, MAX98357A + speaker, VL6180X, TTP223 touch, four servos, battery, charger, and boost converter.
• Verified geometry: watertight manifold STL, 4,776 triangles, 210 x 122 x 43.85 mm.
• Full build guide (materials, BOM with sourcing, wiring tables, power architecture, assembly order, power-up sequence, troubleshooting, maintenance) in English, Vietnamese, and Korean.

Safety fixes ahead of this release

• Cliff-sensor stop condition polarity fix (was inverted).
• Anti-fall now latches movement inhibited while unsafe, instead of only interrupting the single in-flight move.
• Local WS disconnect now stops the motor instead of letting a queued move run for up to its full duration unattended.
• GPIO/enum input validation and motor command preemption fixes.
• Arm/neck servo access now mutex-guarded against concurrent MCP calls.
• Local control endpoint requires a pairing token.
• Web controller: pending RPCs are now rejected and cleared on disconnect/error instead of hanging forever, each call has a timeout, and a double-click during connection no longer races two sockets against each other.
• Wave-gesture task creation failure no longer leaks memory.

Docs

• Root, board, and chassis READMEs available in English, Vietnamese, and Korean.
• New docs/supported-boards.md.