Gutting a bricked Neato D10 and rebuilding it as an open, locally-controlled ROS 2 robot.https://blog.housekeeper.systems/https://blog.housekeeper.systems/episodes/20-backwards/https://blog.housekeeper.systems/episodes/20-backwards/The logic analyzer finally arrived, so I ran the one test episode 19 promised would settle it. I validated the instrument, watched both channels sit dead flat through spin after spin, and had my finger on the button to order the replacement. The sensor was fine. I'd wired its power backwards — and it turns out I'd had the pinout backwards for two weeks.Tue, 18 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/19-it-only-answers-in-motion/https://blog.housekeeper.systems/episodes/19-it-only-answers-in-motion/I set out to test the encoder sensors properly and got three flat, identical readings — including one from a motor I wasn't even studying. Three sensors don't die the same way. The problem was never the hardware; it was that I'd been asking a motion sensor to answer while standing still.Tue, 11 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/18-one-wire-at-a-time/https://blog.housekeeper.systems/episodes/18-one-wire-at-a-time/After a day of phantom edges I stopped patching and rebuilt the whole encoder circuit from a bare breadboard, meter in hand at every step. I found the resistor that was never doing what I built it to do — and at the end, exactly one part left that won't talk.Mon, 10 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/17-fifty-thousand-lies-a-second/https://blog.housekeeper.systems/episodes/17-fifty-thousand-lies-a-second/The encoder came back from the dead and started counting like crazy. Every number was a lie. This is a running log of the investigation — how we caught the counts red-handed, and what was actually making them.Mon, 10 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/rust-02-the-wheel-that-wouldnt-stop/https://blog.housekeeper.systems/episodes/rust-02-the-wheel-that-wouldnt-stop/I built a little tool to ask the robot a question. It answered — and then, when I told it to stop, it didn't. Turns out Ctrl-C kills your program, not the thing on the other end of the wire.Mon, 10 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/16-the-sensor-talked-then-went-dark/https://blog.housekeeper.systems/episodes/16-the-sensor-talked-then-went-dark/It finally counted — 422 edges, hard proof the encoder was alive. Then my laptop died, I unplugged everything to deal with it, plugged it back together — and the sensor never said another word. What followed was hours of ruling everything out until only one culprit was left standing.Sun, 09 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/rust-01-the-line-i-couldnt-give-back/https://blog.housekeeper.systems/episodes/rust-01-the-line-i-couldnt-give-back/I had one tiny function to finish — turn bytes into a line. The compiler refused it twice, and then, when I tried to write a test to prove it worked, refused that too. Both refusals were right.Sun, 09 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/15-the-wires-talked-the-sensor-didnt/https://blog.housekeeper.systems/episodes/15-the-wires-talked-the-sensor-didnt/A connector with no labels gave up its secret to nothing but a multimeter — I knew every wire before I applied a single volt. Then I powered it up, turned the wheel, and it had absolutely nothing to say. And the night ended with a flash and every light going out.Fri, 07 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/14-the-corpse-in-the-garage-fought-back/https://blog.housekeeper.systems/episodes/14-the-corpse-in-the-garage-fought-back/Last session I bragged that a dead PC in the garage would be my free bench supply — jump green to black and it turns on. Then I looked at the connector. Dell had other ideas. And once I finally had 12 volts, the motor still refused to move — for a reason that had nothing to do with the wiring I kept re-checking.Fri, 07 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/13-the-shopping-trip-that-turned-into-a-salvage-run/https://blog.housekeeper.systems/episodes/13-the-shopping-trip-that-turned-into-a-salvage-run/I set aside a session to buy the battery parts. One by one, nearly every line item argued its way off the list — a multimeter I already own, two plant pots, a dead PC in the garage — until the only thing left to buy was wire I probably don't need either.Thu, 06 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/12-the-answer-wasnt-on-the-workbench/https://blog.housekeeper.systems/episodes/12-the-answer-wasnt-on-the-workbench/A box of motor drivers finally showed up, so of course I spent the whole session losing a fight with a sensor the size of a fingernail. The multimeter lied to me three different ways before I worked out I'd been asking the wrong tool the wrong question.Thu, 06 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/11-the-first-thing-that-moved-because-i-told-it-to/https://blog.housekeeper.systems/episodes/11-the-first-thing-that-moved-because-i-told-it-to/Ten episodes of teardown, measuring, and shopping. Then a box arrived, and for the first time I typed a word and a motor answered. It didn't go smoothly — the thing I'd never once been told I needed was the thing missing.Thu, 06 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/10-the-cheap-part-that-came-from-the-wrong-hobby/https://blog.housekeeper.systems/episodes/10-the-cheap-part-that-came-from-the-wrong-hobby/The last part on the list should have been the easiest — a box that turns 14 volts into 5. Instead it taught me the big number on the label is the one you can't trust, and that my power supply was hiding in someone else's hobby.Wed, 05 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/09-buying-it-was-supposed-to-be-the-easy-part/https://blog.housekeeper.systems/episodes/09-buying-it-was-supposed-to-be-the-easy-part/The measuring was done, the list was final. All I had to do was click buy — and discovered that every line on it had a lookalike waiting to trip me. Then I turned the robot over and found the next project staring up at me.Wed, 05 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/08-the-motor-that-wasnt-on-the-list/https://blog.housekeeper.systems/episodes/08-the-motor-that-wasnt-on-the-list/I sat down to measure one motor and close the driver order. I stood up having found a whole motor my own notes had quietly forgotten.Wed, 05 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/07-everyone-stopped-at-my-door/https://blog.housekeeper.systems/episodes/07-everyone-stopped-at-my-door/Before measuring one more thing, I asked the obvious question: has someone already done this? The answer was a community that mapped the whole road — right up to my exact robot, then stopped.Wed, 05 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/06-the-brain-under-the-shield/https://blog.housekeeper.systems/episodes/06-the-brain-under-the-shield/I peeled off a metal shield I'd already written off as 'just the WiFi', and found a whole Linux computer staring back. For about an hour, the entire project was in question.Tue, 04 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/05-a-number-that-wouldnt-sit-still/https://blog.housekeeper.systems/episodes/05-a-number-that-wouldnt-sit-still/I finally put probes on a motor — and spent the next hour learning that a bad reading and a bad contact look exactly the same.Tue, 04 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/04-the-motors-wont-tell-you-their-limits/https://blog.housekeeper.systems/episodes/04-the-motors-wont-tell-you-their-limits/Four motors, a cheap multimeter that can't be trusted, and one smug fan that prints its own numbers and needs no help at all.Tue, 04 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/03-which-parts-live-which-parts-die/https://blog.housekeeper.systems/episodes/03-which-parts-live-which-parts-die/Sorting the salvage from the scrap, and sketching the three-layer nervous system that replaces the brain I just condemned.Tue, 04 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/02-cracking-it-open/https://blog.housekeeper.systems/episodes/02-cracking-it-open/The teardown, the inventory, and the one part inside that turned a maybe-impossible project into a probably-fine one.Tue, 04 Aug 2026 00:00:00 GMThttps://blog.housekeeper.systems/episodes/01-the-robot-that-went-dumb/https://blog.housekeeper.systems/episodes/01-the-robot-that-went-dumb/Neato went bust, Vorwerk killed the cloud, and it turns out you can't even root the thing. So I decided to gut it.Tue, 04 Aug 2026 00:00:00 GMT