sl-controls
7cfb98aec1
Implement SCS/STS serial protocol driver for Waveshare ST3215 servos at 1Mbps daisy-chain configuration. Pan and tilt servos on single UART. Features: - SCSServoBus class: Low-level protocol handler with packet construction - Position write commands with configurable speed (0-1000) - Position and temperature readback from servos - PanTiltNode: ROS2 node with target tracking control loop - Subscribes to /saltybot/target_track for centroid position - Proportional control to keep target centered in D435i FOV - Publishes /pan_tilt/state with angles and temperatures - Publishes /pan_tilt/command for servo position monitoring - 30 Hz control loop, 1 Hz telemetry loop - Configurable servo limits and speeds Servos: 0.24° resolution, 0-4095 position range Camera: 87° × 58° field of view Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>