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feat: pan/tilt camera head (Issue #384) #390

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sl-jetson merged 1 commits from sl-controls/issue-384-pan-tilt into main 2026-03-04 12:39:08 -05:00
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sl-jetson commented 2026-03-04 12:19:13 -05:00
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ST3215 servo control + auto-tracking

ST3215 servo control + auto-tracking
sl-jetson added 1 commit 2026-03-04 12:19:14 -05:00 
Implement SCS/STS serial protocol driver for Waveshare ST3215 servos
at 1Mbps daisy-chain configuration. Pan and tilt servos on single UART.

Features:
- SCSServoBus class: Low-level protocol handler with packet construction
- Position write commands with configurable speed (0-1000)
- Position and temperature readback from servos
- PanTiltNode: ROS2 node with target tracking control loop
- Subscribes to /saltybot/target_track for centroid position
- Proportional control to keep target centered in D435i FOV
- Publishes /pan_tilt/state with angles and temperatures
- Publishes /pan_tilt/command for servo position monitoring
- 30 Hz control loop, 1 Hz telemetry loop
- Configurable servo limits and speeds

Servos: 0.24° resolution, 0-4095 position range
Camera: 87° × 58° field of view

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 19017eca37 into main 2026-03-04 12:39:08 -05:00
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Reference: seb/saltylab-firmware#390
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