legop3/MultiRoombaRover
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legop3
2025-11-27 19:06:36 -05:00
parent 37d5841d1c
commit 6eac64beab
7 changed files with 9 additions and 9 deletions
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dist/roverd
Vendored
BIN
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dist/servoverifier
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pi/asound.conf
+4 -4
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@@ -1,14 +1,14 @@
# Use the Google Voice HAT soundcard as the primary device by name (more robust than numeric card index) # Use the Google Voice HAT soundcard as the primary device by name (card id is "sndrpigooglevoi")
options snd_rpi_googlevoicehat_soundcard index=0 options snd_rpi_googlevoicehat_soundcard index=0
# Simple defaults: direct playback/capture on the voice HAT # Simple defaults: direct playback/capture on the voice HAT
pcm.!default { pcm.!default {
type asym type asym
playback.pcm "plughw:sndrpigooglevoicehat_soundcar,0" playback.pcm "plughw:sndrpigooglevoi,0"
capture.pcm "plughw:sndrpigooglevoicehat_soundcar,0" capture.pcm "plughw:sndrpigooglevoi,0"
} }
ctl.!default { ctl.!default {
type hw type hw
card sndrpigooglevoicehat_soundcar card sndrpigooglevoi
} }
pi/bin/video-publisher.sh
+2 -2
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@@ -19,14 +19,14 @@ VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
VIDEO_FPS="${VIDEO_FPS:-30}" VIDEO_FPS="${VIDEO_FPS:-30}"
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}" VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
AUDIO_ENABLE="${AUDIO_ENABLE:-0}" AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}" AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:sndrpigooglevoi,0}"
AUDIO_RATE="${AUDIO_RATE:-16000}" AUDIO_RATE="${AUDIO_RATE:-16000}"
AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}" AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
AUDIO_BITRATE="${AUDIO_BITRATE:-64000}" AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
# Normalize device if env still says "default" # Normalize device if env still says "default"
if [[ "${AUDIO_DEVICE}" == "default" ]]; then if [[ "${AUDIO_DEVICE}" == "default" ]]; then
AUDIO_DEVICE="plughw:sndrpigooglevoicehat_soundcar,0" AUDIO_DEVICE="plughw:sndrpigooglevoi,0"
fi fi
# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid) # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
FLIP_ARGS=(--rotation 180) FLIP_ARGS=(--rotation 180)
pi/install_roverd.sh
+1 -1
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@@ -205,7 +205,7 @@ VIDEO_HEIGHT=720
VIDEO_FPS=30 VIDEO_FPS=30
VIDEO_BITRATE=3000000 VIDEO_BITRATE=3000000
AUDIO_ENABLE=1 AUDIO_ENABLE=1
AUDIO_DEVICE=plughw:sndrpigooglevoicehat_soundcar,0 AUDIO_DEVICE=plughw:sndrpigooglevoi,0
AUDIO_RATE=16000 AUDIO_RATE=16000
AUDIO_CHANNELS=1 AUDIO_CHANNELS=1
AUDIO_BITRATE=64000 AUDIO_BITRATE=64000
pi/roverd/config.go
+1 -1
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@@ -142,7 +142,7 @@ func LoadConfig(path string) (*Config, error) {
}, },
Audio: AudioConfig{ Audio: AudioConfig{
CaptureEnabled: true, CaptureEnabled: true,
CaptureDevice: "plughw:0,0", CaptureDevice: "plughw:sndrpigooglevoi,0",
SampleRate: 16000, SampleRate: 16000,
Channels: 1, Channels: 1,
Bitrate: 64000, Bitrate: 64000,
pi/roverd/roverd.sample.yaml
+1 -1
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@@ -39,7 +39,7 @@ cameraServo:
allowRawPulse: false allowRawPulse: false
audio: audio:
captureEnabled: true captureEnabled: true
captureDevice: plughw:0,0 captureDevice: plughw:sndrpigooglevoi,0
sampleRate: 16000 sampleRate: 16000
channels: 1 channels: 1
bitrate: 64000 bitrate: 64000