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feat(webui): gamepad teleoperation panel with WASD + e-stop (Issue #319) #331

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sl-jetson merged 1 commits from sl-webui/issue-319-teleop into main 2026-03-03 11:22:29 -05:00
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sl-jetson commented 2026-03-03 06:45:30 -05:00
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Virtual dual-stick gamepad, WASD keyboard fallback, speed limiter slider, emergency stop button. Publishes Twist on /cmd_vel.

Virtual dual-stick gamepad, WASD keyboard fallback, speed limiter slider, emergency stop button. Publishes Twist on /cmd_vel.
sl-jetson added 1 commit 2026-03-03 06:45:30 -05:00 
Features:
- Virtual dual-stick gamepad interface
  * Left stick: linear velocity (forward/backward)
  * Right stick: angular velocity (turn left/right)
- Canvas-based rendering with real-time visual feedback
- Velocity vector visualization on sticks
- 10% deadzone on both axes for dead-stick detection

- WASD keyboard fallback for manual driving
  * W/S: forward/backward
  * A/D: turn left/right
  * Smooth blending between gamepad and keyboard input

- Speed limiter slider (0-100%)
  * Real-time control of max velocity
  * Disabled during e-stop state

- Emergency stop button (e-stop)
  * Immediate velocity zeroing
  * Visual status indicator (red when active)
  * Prevents accidental motion during e-stop

- ROS Integration
  * Publishes geometry_msgs/Twist to /cmd_vel
  * Max linear velocity: 0.5 m/s
  * Max angular velocity: 1.0 rad/s
  * 50ms update rate

- UI Features
  * Real-time velocity display (m/s and rad/s)
  * Status bar with control mode indicator
  * Speed limit percentage display
  * Control info with keyboard fallback guide

Integration:
- Replaces previous split-view control layout
- Enhanced TELEMETRY/control tab
- Comprehensive gamepad + keyboard control system

Build: 120 modules, no errors

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 79505579b1 into main 2026-03-03 11:22:29 -05:00
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Reference: seb/saltylab-firmware#331
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