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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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