gamepad_teleop:
  device: /dev/input/js0

  # Deadzone for analog sticks (0.0 - 1.0)
  deadzone: 0.1

  # Velocity limits
  max_linear_vel: 2.0      # m/s
  max_angular_vel: 2.0     # rad/s

  # Speed multiplier limits (L2/R2 triggers)
  min_speed_mult: 0.3      # 30% with L2
  max_speed_mult: 1.0      # 100% with R2

  # Pan-tilt servo limits (D-pad manual control)
  pan_step: 5.0            # degrees per d-pad press
  tilt_step: 5.0           # degrees per d-pad press

  # Rumble feedback thresholds
  obstacle_distance: 0.5   # m, below this triggers warning rumble
  low_battery_voltage: 18.0 # V, below this triggers alert rumble

  # Topic names
  topics:
    cmd_vel: /cmd_vel
    teleop_active: /saltybot/teleop_active
    obstacle_feedback: /saltybot/obstacle_distance
    battery_voltage: /saltybot/battery_voltage
    pan_tilt_command: /saltybot/pan_tilt_command
