f49e84b8bb
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>
64 lines
1.7 KiB
Markdown
64 lines
1.7 KiB
Markdown
# Motor Test Joystick (Issue #513)
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Terminal-based interactive joystick for bench testing SaltyBot motors via Termux.
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## Quick Start
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```bash
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python3 motor_test_joystick.py # ROS2 mode
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python3 motor_test_joystick.py --backend websocket --host <jetson-ip> # WebSocket mode
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```
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## Controls
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| Key | Action |
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|-----|--------|
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| **W** / **↑** | Forward (linear +X) |
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| **S** / **↓** | Reverse (linear -X) |
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| **A** / **←** | Turn left (angular +Z) |
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| **D** / **→** | Turn right (angular -Z) |
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| **SPACE** | E-stop toggle |
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| **R** | Reset velocities |
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| **Q** | Quit |
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## Features
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- Real-time velocity feedback with bar graphs
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- Spacebar e-stop (instantly zeros velocity)
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- 500ms timeout safety (sends zero if idle)
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- Conservative defaults: 0.1 m/s linear, 0.3 rad/s angular
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- Dual backend: ROS2 (/cmd_vel) or WebSocket
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- Graceful fallback if ROS2 unavailable
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## Usage Examples
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```bash
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# Standard ROS2 mode
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python3 motor_test_joystick.py
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# WebSocket mode (fallback)
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python3 motor_test_joystick.py --backend websocket --host 192.168.1.100
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# Custom velocity limits
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python3 motor_test_joystick.py --linear-max 0.5 --angular-max 1.0
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```
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## Architecture
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- **MotorTestController**: State machine, velocity limiting, timeout enforcement
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- **MotorTestNode** (ROS2): Twist publisher to /cmd_vel
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- **WebSocketController** (fallback): JSON messages to Jetson
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- **Curses UI**: Non-blocking input, real-time feedback, status display
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## Safety
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- Conservative defaults (0.1/0.3 m/s)
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- E-stop button (spacebar)
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- 500ms timeout (auto-zero velocity)
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- Input clamping & exponential decay
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## Related Issues
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- #420 — Termux bootstrap & Android phone node
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- #512 — Autonomous arming (uses /cmd_vel)
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