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feat: VESC balance PID controller with tilt safety (Issue #407) #415

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sl-jetson merged 1 commits from sl-controls/issue-407-vesc-balance into main 2026-03-04 22:46:41 -05:00
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sl-jetson commented 2026-03-04 22:41:23 -05:00
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ROS2 node for balance mode PID management, tilt safety kill switch (±45° > 500ms), startup ramp, IMU integration, and data logging

ROS2 node for balance mode PID management, tilt safety kill switch (±45° > 500ms), startup ramp, IMU integration, and data logging
sl-jetson added 1 commit 2026-03-04 22:41:24 -05:00 
- ROS2 node for balance mode PID parameter management via pyvesc UART
- Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff
- Startup ramp: gradual acceleration from 0 to full output over configurable duration
- IMU integration: subscribe to /imu/data for pitch/roll angle computation
- State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry
- Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data
- Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency
- Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 8070dcd4b1 into main 2026-03-04 22:46:41 -05:00
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Reference: seb/saltylab-firmware#415
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