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feat: Phone joystick for bench testing (Issue #513) #515

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sl-jetson commented 2026-03-06 11:47:21 -05:00
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Implements terminal-based motor test joystick app for Termux. Interactive keyboard-based control (W/A/S/D) with real-time velocity feedback, e-stop button (spacebar), and conservative defaults (0.1 m/s linear, 0.3 rad/s angular). Dual backend: ROS2 (/cmd_vel) or WebSocket fallback. 500ms timeout safety. 20Hz UI refresh.

Implements terminal-based motor test joystick app for Termux. Interactive keyboard-based control (W/A/S/D) with real-time velocity feedback, e-stop button (spacebar), and conservative defaults (0.1 m/s linear, 0.3 rad/s angular). Dual backend: ROS2 (/cmd_vel) or WebSocket fallback. 500ms timeout safety. 20Hz UI refresh.
sl-jetson added 1 commit 2026-03-06 11:47:21 -05:00 
Implements terminal-based curses UI for interactive bench testing of SaltyBot motors via Termux.

Features:
- Interactive keyboard-based joystick (W/A/S/D or arrow keys)
- Conservative velocity defaults: 0.1 m/s linear, 0.3 rad/s angular
- Real-time velocity feedback with bar graphs
- Spacebar e-stop (instantly zeros velocity)
- 500ms timeout safety (sends zero velocity if idle)
- Dual backend: ROS2 (/cmd_vel) or WebSocket
- Graceful fallback if ROS2 unavailable

Safety Features:
- Conservative defaults (0.1/0.3 m/s)
- E-stop button (spacebar)
- 500ms timeout (sends zero if idle)
- Input clamping and exponential decay
- Status/warning displays

Files:
- motor_test_joystick.py: Main application
- MOTOR_TEST_JOYSTICK.md: User documentation
- INSTALL_MOTOR_TEST.md: Installation guide

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-03-07 09:20:12 -05:00

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Reference: seb/saltylab-firmware#515
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