sl-firmware
e4116dffc0
Enable Jetson autonomous arming while keeping RC as optional override. Changes: - RC kill switch (CH5 OFF) now triggers emergency stop instead of disarm → Allows Jetson-armed robots to remain armed when RC disconnects → Maintains kill switch safety for emergency situations - RC disarm only triggers on explicit CH5 falling edge (RC still alive) → RC disconnect doesn't disarm Jetson-controlled missions → RC failsafe timer (500ms) handles signal loss separately - Jetson arming via CDC 'A' command works independently of RC state → Robots can operate fully autonomous without RC transmitter → Heartbeat timeout (500ms) prevents runaway if Jetson crashes Safety maintained: - Arming hold timer: 500ms (prevents accidental arm) - Tilt limit: ±10° level required - IMU calibration: Required before any arm attempt - Remote E-stop: Blocks all arming - RC failsafe: 500ms signal loss = disarm - Jetson timeout: 500ms heartbeat = zero motors Command protocol (unchanged): - Jetson: A=arm, D=disarm, E=estop, Z=clear estop - RC: CH5 switch (optional override) - Heartbeat: H command every ≤500ms - Drive: C<speed>,<steer> every ≤200ms See AUTONOMOUS_ARMING.md for complete protocol and testing checklist. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
5.3 KiB
5.3 KiB
Motor Test Joystick (Issue #513)
Terminal-based interactive joystick for bench testing SaltyBot motors via Termux.
Quick Start
On phone (Termux):
# With ROS2 (default, requires ros_core running on Jetson)
python3 ~/saltylab-firmware/phone/motor_test_joystick.py
# With WebSocket (if ROS2 unavailable)
python3 ~/saltylab-firmware/phone/motor_test_joystick.py --backend websocket --host <jetson-ip>
Controls
| Key | Action |
|---|---|
| W / ↑ | Forward (linear +X) |
| S / ↓ | Reverse (linear -X) |
| A / ← | Turn left (angular +Z) |
| D / → | Turn right (angular -Z) |
| SPACE | E-stop toggle (hold disables motors) |
| R | Reset velocities to zero |
| Q | Quit |
Features
Real-Time Feedback
- Live velocity displays (linear X, angular Z)
- Velocity bar graphs with ● indicator
- Current input state (before clamping)
- Timeout warning (>500ms since last command)
- Status message line
Safety Features
- E-stop button (spacebar): Instantly zeros velocity, toggle on/off
- Timeout safety: 500ms without command → sends zero velocity
- Velocity ramping: Input decays exponentially (95% per frame)
- Conservative defaults: 0.1 m/s linear, 0.3 rad/s angular
- Graceful fallback: WebSocket if ROS2 unavailable
Dual Backend Support
- ROS2 (primary): Publishes directly to
/cmd_veltopic - WebSocket (fallback): JSON messages to Jetson bridge (port 9090)
Usage Examples
Standard ROS2 mode (Jetson has ros_core)
python3 motor_test_joystick.py
Sends Twist messages to /cmd_vel at ~20Hz
WebSocket mode (fallback if no ROS2)
python3 motor_test_joystick.py --backend websocket --host 192.168.1.100
Sends JSON: {"type": "twist", "linear_x": 0.05, "angular_z": 0.0, "timestamp": 1234567890}
Custom velocity limits
python3 motor_test_joystick.py --linear-max 0.5 --angular-max 1.0
Max forward: 0.5 m/s, max turn: 1.0 rad/s
Combine options
python3 motor_test_joystick.py \
--backend websocket \
--host saltybot.local \
--linear-max 0.2 \
--angular-max 0.5
Architecture
MotorTestController
Main state machine:
- Manages velocity state (linear_x, angular_z)
- Handles e-stop state
- Enforces 500ms timeout
- Clamps velocities to max limits
- Sends commands to backend
Backend Options
ROS2Backend: Direct Twist publisher
- Requires
geometry_msgs/rclpy - Topic:
/cmd_vel - Spin thread for ros2.spin()
WebSocketBackend: JSON over TCP socket
- No ROS2 dependencies
- Connects to Jetson:9090 (configurable)
- Fallback if ROS2 unavailable
Curses UI
- Non-blocking input (getch timeout)
- 20Hz refresh rate
- Color-coded status (green=ok, red=estop/timeout, yellow=bars)
- Real-time velocity bars
- Exponential input decay (95% per frame)
Terminal Requirements
- Size: Minimum 80×25 characters (larger is better for full feedback)
- Colors: 256-color support (curses.init_pair)
- Non-blocking I/O: ncurses.nodelay()
- Unicode: ● and 🛑 symbols (optional, falls back to ASCII)
Test in Termux
stty size # Should show >= 25 lines
echo $TERM # Should be xterm-256color or similar
Performance
| Metric | Value | Notes |
|---|---|---|
| UI Refresh | 20 Hz | Non-blocking, timeout-based |
| Command Rate | 20 Hz | Updated per frame |
| Timeout Safety | 500ms | Zero velocity if no input |
| Input Decay | 95% per frame | Smooth ramp-down |
| Max Linear | 0.1 m/s (default) | Conservative for bench testing |
| Max Angular | 0.3 rad/s (default) | ~17°/s rotation |
Troubleshooting
"ROS2 module not found"
→ Run with --backend websocket instead
"Connection refused" (WebSocket mode)
→ Check Jetson IP with --host <ip>, verify bridge listening on :9090
Motors not responding
- Check e-stop status (should show "✓ Inactive")
- Verify timeout warning (>500ms = zero velocity sent)
- Check Jetson
/cmd_velsubscription:ros2 topic echo /cmd_vel - Verify network connectivity (WiFi/tethering)
Terminal artifacts / display issues
- Try
resetorstty sanein Termux - Increase terminal size (pinch-zoom)
- Use
--backend websocket(simpler UI fallback)
Safety Checklist Before Testing
- Phone connected to Jetson (WiFi or USB tether)
- Motors disconnected or isolated (bench testing mode)
- E-stop accessible (spacebar, always reachable)
- Terminal window visible (no hide/scroll)
- Max velocities appropriate (start conservative: 0.1/0.3)
- Kill switch ready (Ctrl+C, or
ros2 topic pub --once /cmd_vel ...)
Future Enhancements
- Gamepad/joystick input (evdev) instead of keyboard
- Configurable button mappings
- Velocity profile presets (slow/medium/fast)
- Motor current feedback from motor driver
- Telemetry logging (CSV) for bench analysis
- Multi-motor independent control
Related Issues
- #420 — Termux bootstrap & Android phone node
- #508 — Face LCD animations (separate system)
- #512 — Autonomous arming (uses /cmd_vel via motor bridge)