power_supervisor:
  ros__parameters:
    # Battery thresholds (SoC %)
    warning_pct: 30.0
    dock_search_pct: 20.0
    critical_pct: 10.0
    emergency_pct: 5.0

    # Charging detection threshold (negative current = charging)
    charge_detect_ma: -100

    # CSV logging
    log_dir: "/home/seb/.saltybot-data/battery"
    log_file: "battery_log.csv"

    # Feedback and alerts
    enable_tts_warning: true
    enable_led_warning: true

    # Shutdown behavior (milliseconds)
    graceful_shutdown_delay_ms: 500
    force_kill_delay_ms: 5000

    # Publishing rate
    publish_rate_hz: 1.0
