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cea3eaff97
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cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
* Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
* Device paths: /dev/stm32-bridge → /dev/esp32-io
* Node names: stm32_serial_bridge → esp32_io_serial_bridge
* hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
chassis, docs, scripts, and project files
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:56:09 -04:00 |
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9733f5f097
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feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104)
New package: saltybot_mode_switch
mode_logic.py (pure, no ROS2 dep — 72/72 tests pass):
State machine: RC → RAMP_TO_AUTO → AUTO → RAMP_TO_RC → RC
• CH6 (axes[5] > 0.5) requests AUTO; CH6 low → RAMP_TO_RC
• Stick >10% in AUTO/RAMP_TO_AUTO/RAMP_TO_RC → instant RC (no ramp)
• Sticks neutral ≥ 2 s after override → override cleared → RAMP_TO_AUTO
• RC link lost (Joy silent > 0.5 s) → instant RC from any state
• SLAM fix lost → RAMP_TO_RC (graceful exit from AUTO)
• No AUTO entry without slam_ok AND rc_link_ok
blend_alpha: 0.0 (RC) → linear ramp over 500 ms → 1.0 (AUTO)
led_pattern: solid_yellow(RC) | blink_green_slow(ramp) |
solid_green(AUTO) | blink_orange_fast(slam lost) |
blink_red_fast(RC link lost)
mode_switch_node.py (ROS2, 20 Hz):
Sub: /rc/joy (Joy), /saltybot/balance_state (String),
/slam_toolbox/pose_with_covariance_stamped (PoseWithCovarianceStamped)
Pub: /saltybot/control_mode (String JSON: mode+blend_alpha+slam_ok+rc_link_ok+override_active)
/saltybot/led_pattern (String)
cmd_vel_mux_node.py (ROS2, 20 Hz):
Sub: /cmd_vel_auto (Twist from Nav2/follower), /saltybot/control_mode
Pub: /cmd_vel (Twist to bridge, scaled by blend_alpha)
Note: remap Nav2/follower output to /cmd_vel_auto in launch.
Tests: 72/72 pass (no ROS2 runtime required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 08:38:49 -05:00 |
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