f49e84b8bb
Implements terminal-based curses UI for interactive bench testing of SaltyBot motors via Termux. Features: - Interactive keyboard-based joystick (W/A/S/D or arrow keys) - Conservative velocity defaults: 0.1 m/s linear, 0.3 rad/s angular - Real-time velocity feedback with bar graphs - Spacebar e-stop (instantly zeros velocity) - 500ms timeout safety (sends zero velocity if idle) - Dual backend: ROS2 (/cmd_vel) or WebSocket - Graceful fallback if ROS2 unavailable Safety Features: - Conservative defaults (0.1/0.3 m/s) - E-stop button (spacebar) - 500ms timeout (sends zero if idle) - Input clamping and exponential decay - Status/warning displays Files: - motor_test_joystick.py: Main application - MOTOR_TEST_JOYSTICK.md: User documentation - INSTALL_MOTOR_TEST.md: Installation guide Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
121 lines
2.7 KiB
Markdown
121 lines
2.7 KiB
Markdown
# Motor Test Joystick Installation (Issue #513)
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Quick setup guide for installing motor_test_joystick.py on Termux.
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## Prerequisites
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- Android phone with Termux installed
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- Python 3.9+ (installed via termux-bootstrap.sh)
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- ROS2 Humble OR Jetson bridge running on networked Jetson Orin
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## Installation
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### 1. Copy script to phone
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```bash
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# Option A: Via git
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cd ~
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git clone https://gitea.vayrette.com/seb/saltylab-firmware.git
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# Option B: Via adb
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adb push phone/motor_test_joystick.py /data/data/com.termux/files/home/
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```
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### 2. Make executable
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```bash
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chmod +x ~/saltylab-firmware/phone/motor_test_joystick.py
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```
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## Quick Test
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### 1. Start on phone (Termux)
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**ROS2 mode** (requires Jetson ros_core running):
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```bash
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python3 ~/saltylab-firmware/phone/motor_test_joystick.py
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```
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**WebSocket mode** (if Jetson IP is 192.168.1.100):
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```bash
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python3 ~/saltylab-firmware/phone/motor_test_joystick.py \
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--backend websocket \
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--host 192.168.1.100
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```
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### 2. Verify on Jetson
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```bash
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ros2 topic echo /cmd_vel
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```
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### 3. Safety test
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1. Move joystick (W key)
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2. Watch /cmd_vel values change
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3. Press spacebar (E-stop)
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4. Verify velocities go to 0.0
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5. Press Q to quit
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## Configuration
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### Adjust velocity limits
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```bash
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# Conservative (default)
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python3 motor_test_joystick.py # 0.1 m/s, 0.3 rad/s
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# Moderate
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python3 motor_test_joystick.py --linear-max 0.3 --angular-max 0.8
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# Aggressive
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python3 motor_test_joystick.py --linear-max 0.5 --angular-max 1.5
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```
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### Change Jetson address
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```bash
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# Static IP
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python3 motor_test_joystick.py --backend websocket --host 192.168.1.100
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# mDNS hostname
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python3 motor_test_joystick.py --backend websocket --host saltybot.local
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# Different port
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python3 motor_test_joystick.py --backend websocket --host 192.168.1.100 --port 8080
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```
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## Troubleshooting
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### "ROS2 module not found"
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→ Use WebSocket backend: `--backend websocket --host <jetson-ip>`
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### "Connection refused" (WebSocket mode)
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→ Check Jetson IP, verify bridge listening on :9090
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### Motors not responding
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1. Verify e-stop status (should show "Inactive")
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2. Check timeout warning (>500ms = zero velocity)
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3. Monitor Jetson: `ros2 topic echo /cmd_vel`
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4. Verify network connectivity
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### Terminal display issues
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- Try `reset` or `stty sane` in Termux
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- Increase terminal size (pinch-zoom)
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- Use external keyboard (more reliable)
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## Safety Checklist
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- [ ] Phone connected to Jetson (WiFi/tether)
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- [ ] Motors disconnected or isolated (bench testing)
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- [ ] E-stop accessible (spacebar)
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- [ ] Terminal window visible
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- [ ] Max velocities appropriate (conservative defaults)
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- [ ] Kill switch ready (Ctrl+C)
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## Support
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- Main documentation: `MOTOR_TEST_JOYSTICK.md`
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- Issue tracker: https://gitea.vayrette.com/seb/saltylab-firmware/issues/513
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- Termux wiki: https://wiki.termux.com/
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