sl-webui
f71dad5344
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
30 lines
847 B
YAML
30 lines
847 B
YAML
gimbal_node:
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ros__parameters:
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# Serial port connecting to ESP32 BALANCE over JLINK protocol
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serial_port: "/dev/ttyTHS1"
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baud_rate: 921600
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# Soft angle limits (degrees, ± from center)
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pan_limit_deg: 150.0
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tilt_limit_deg: 45.0
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# Home position (degrees from center)
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home_pan_deg: 0.0
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home_tilt_deg: 0.0
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# Motion profile
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max_speed_deg_s: 90.0 # maximum pan/tilt speed (°/s)
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accel_deg_s2: 180.0 # trapezoidal acceleration (°/s²)
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# Update rates
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update_rate_hz: 20.0 # motion tick + JLINK TX rate
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state_publish_hz: 10.0 # /saltybot/gimbal/state publish rate
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# Serial reconnect
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reconnect_delay_s: 2.0
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# D435i camera parameters (for look_at 3D→pan/tilt projection)
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camera_focal_length_px: 600.0
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image_width_px: 848
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image_height_px: 480
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