# Battery Speed Limiter Configuration
battery_speed_limiter:
  ros__parameters:
    # Battery percentage thresholds
    threshold_full_1: 100    # Upper bound for full speed
    threshold_full_2: 50     # Lower bound for full speed
    threshold_reduced_1: 50  # Upper bound for reduced speed
    threshold_reduced_2: 25  # Lower bound for reduced speed
    threshold_critical_1: 25 # Upper bound for critical speed
    threshold_critical_2: 15 # Lower bound for critical speed
    threshold_stop: 15       # Below this: stop

    # Speed limit factors
    speed_factor_full: 1.0      # 100-50%: full speed
    speed_factor_reduced: 0.7   # 50-25%: 70% speed
    speed_factor_critical: 0.4  # 25-15%: 40% speed
    speed_factor_stop: 0.0      # <15%: stop

    # Publishing frequency (Hz)
    publish_frequency: 10

    # Enable/disable limiting
    enable_limiting: true