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feat(controls): Motor current protection — overcurrent detection and thermal derating #223

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opened 2026-03-02 11:52:16 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:52:16 -05:00
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Single ROS2 node. Subscribe to /saltybot/motor_current (from INA219). If current exceeds soft_limit (5A) for >2s, scale down speed by 50%. If exceeds hard_limit (8A), zero cmd_vel + publish alert. Thermal derating: reduce max current linearly above 60C motor temp estimate (I^2*R model). Publish /saltybot/motor_protection (JSON). 20Hz. Include unit tests.

Single ROS2 node. Subscribe to /saltybot/motor_current (from INA219). If current exceeds soft_limit (5A) for >2s, scale down speed by 50%. If exceeds hard_limit (8A), zero cmd_vel + publish alert. Thermal derating: reduce max current linearly above 60C motor temp estimate (I^2*R model). Publish /saltybot/motor_protection (JSON). 20Hz. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#223
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