# VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
<<<<<<< HEAD
# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2)
=======
# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32-S3 BALANCE CAN2)
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

vesc_telemetry:
  ros__parameters:
    # SocketCAN interface name
    can_interface: "can0"

    # CAN IDs assigned to each VESC in VESC Tool
    # Left motor VESC:  ID 56  (0x38)
    # Right motor VESC: ID 68  (0x44)
    left_can_id:  56
    right_can_id: 68

    # This node's CAN ID used as sender_id in GET_VALUES requests (0-127)
    sender_can_id: 127

    # Telemetry publish rate and GET_VALUES poll rate (10-50 Hz)
    poll_rate_hz: 20

    # Fault alert thresholds
    # Phase current threshold — FSESC 6.7 Pro rated 80 A peak; alert at 60 A
    overcurrent_threshold_a: 60.0

    # FET temperature — thermal shutdown typically at 90 °C; alert at 80 °C
    overtemp_fet_threshold_c: 80.0

    # Motor temperature — alert at 100 °C
    overtemp_motor_threshold_c: 100.0
