sl-controls
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- ROS2 node for balance mode PID parameter management via pyvesc UART - Tilt safety kill switch: ±45° pitch > 500ms triggers motor cutoff - Startup ramp: gradual acceleration from 0 to full output over configurable duration - IMU integration: subscribe to /imu/data for pitch/roll angle computation - State publishing: /saltybot/balance_state with tilt angles, PID values, motor telemetry - Data logging: /saltybot/balance_log publishes CSV-formatted IMU + motor data - Configurable parameters: PID gains, tilt thresholds, ramp duration, control frequency - Test suite: quaternion to Euler conversion, tilt safety checks, startup ramp Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>