# Battery-aware speed scaling configuration

battery_speed_scaler:
  ros__parameters:
    # Update frequency (Hz)
    frequency: 1  # 1 Hz is sufficient for battery monitoring

    # Battery level thresholds (0.0 to 1.0 percentage)
    # Below these thresholds, speed is reduced
    critical_threshold: 0.20  # 20% - critical battery
    warning_threshold: 0.50   # 50% - moderate discharge

    # Speed scaling factors (0.0 to 1.0)
    # Applied to max velocity when battery is below thresholds
    full_scale: 1.0    # >= 50% battery: full speed
    warning_scale: 0.7 # 20-50% battery: 70% speed
    critical_scale: 0.4 # < 20% battery: 40% speed
