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[P2] Phone-based motor test app — Termux BLE/WiFi joystick for bench testing #513

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opened 2026-03-06 11:43:53 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-06 11:43:53 -05:00
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Goal

Build a simple joystick interface on the Android phone (via Termux) that sends velocity commands to SaltyBot over WiFi. Useful for bench testing motors without needing the full ELRS RC setup.

Requirements

  1. Terminal-based joystick UI (curses or similar) running in Termux
  2. Sends geometry_msgs/Twist to /cmd_vel via ROS2 bridge or direct WebSocket
  3. Configurable max speed limits (default very conservative: 0.1 m/s linear, 0.3 rad/s angular)
  4. Emergency stop button (spacebar)
  5. Display current velocity feedback
  6. WiFi connection to Orin (same subnet or Tailscale)

Safety

  • Very conservative default speeds for bench testing
  • E-stop must be instant and reliable
  • Timeout: if no input for 500ms, send zero velocity

Priority: P2

Useful for bench testing alongside Issue #512 (autonomous arming).

## Goal Build a simple joystick interface on the Android phone (via Termux) that sends velocity commands to SaltyBot over WiFi. Useful for bench testing motors without needing the full ELRS RC setup. ## Requirements 1. Terminal-based joystick UI (curses or similar) running in Termux 2. Sends geometry_msgs/Twist to /cmd_vel via ROS2 bridge or direct WebSocket 3. Configurable max speed limits (default very conservative: 0.1 m/s linear, 0.3 rad/s angular) 4. Emergency stop button (spacebar) 5. Display current velocity feedback 6. WiFi connection to Orin (same subnet or Tailscale) ## Safety - Very conservative default speeds for bench testing - E-stop must be instant and reliable - Timeout: if no input for 500ms, send zero velocity ## Priority: P2 Useful for bench testing alongside Issue #512 (autonomous arming).
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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#513
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