sl-controls
45828b1cc2
feat: Add battery-aware speed limiter ROS2 node (Issue #321)
Implements saltybot_battery_speed_limiter package:
- Subscribes to /saltybot/battery_state, publishes speed limit factor
- Battery percentage thresholds: 100-50%=1.0, 50-25%=0.7, 25-15%=0.4, <15%=0.0
- Reduces speed to preserve battery when running low
- Automatically stops movement below 15% to prevent deep discharge
- Configurable thresholds and speed factors
- Comprehensive test suite: 30+ tests covering all threshold transitions
- Handles both direct percentage and voltage-based fallback calculation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-03 00:46:12 -05:00
..
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00
2026-03-03 00:46:12 -05:00