saltybot_balance_controller 0.1.0 Balance mode PID controller for SaltyBot self-balancing robot. Manages VESC balance PID parameters, tilt safety limits (±45° > 500ms kill), startup ramp, and state monitoring via IMU. sl-controls MIT rclpy sensor_msgs std_msgs ament_python ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python