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feat: auto-dock (Issue #410) #417

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sl-jetson merged 1 commits from sl-mechanical/issue-410-auto-dock into main 2026-03-04 22:46:50 -05:00
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sl-jetson commented 2026-03-04 22:44:24 -05:00
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ArUco + approach + battery threshold

ArUco + approach + battery threshold
sl-jetson added 1 commit 2026-03-04 22:44:25 -05:00 
- Update battery_low_pct from 15% to 20% for auto-dock trigger (Issue #410 requirement)
- Add social mood publisher for charging animation display
- Trigger face charging animation (happy mood) when entering CHARGING state
- ArUco marker ID 42 detection via RealSense D435i (already configured)
- Approach sequence: detect → align → slow → contact → verify charging
- 360° search then expand capability (DETECTING state handles search)
- Safety abort timeouts already implemented in FSM state machine
- IR beacon fallback detection also available
sl-jetson merged commit 6aca138af1 into main 2026-03-04 22:46:50 -05:00
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Reference: seb/saltylab-firmware#417
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