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virtual wall private rover safety

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legop3
2026-07-05 14:57:26 -04:00
parent 40e8adf15a
commit d77ec54bc9
12 changed files with 248 additions and 76 deletions
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pi/roverd/config.go
+28 -22
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@@ -177,17 +177,20 @@ type PrivateConfig struct {
}
type PrivateSafetyConfig struct {
SpeedLimitEnabled bool `yaml:"speedLimitEnabled" json:"speedLimitEnabled"`
SpeedLimitMaxWheelMMs int `yaml:"speedLimitMaxWheelSpeed" json:"speedLimitMaxWheelSpeed"`
HardOvercurrentEnabled bool `yaml:"hardOvercurrentEnabled" json:"hardOvercurrentEnabled"`
OvercurrentStopMs int `yaml:"overcurrentStopMs" json:"overcurrentStopMs"`
HardBumpEnabled bool `yaml:"hardBumpEnabled" json:"hardBumpEnabled"`
BumpBackoffSpeed int `yaml:"bumpBackoffSpeed" json:"bumpBackoffSpeed"`
BumpBackoffMs int `yaml:"bumpBackoffMs" json:"bumpBackoffMs"`
CliffEnabled bool `yaml:"cliffEnabled" json:"cliffEnabled"`
CliffBackoffSpeed int `yaml:"cliffBackoffSpeed" json:"cliffBackoffSpeed"`
CliffBackoffMs int `yaml:"cliffBackoffMs" json:"cliffBackoffMs"`
TriggerCooldownMs int `yaml:"triggerCooldownMs" json:"triggerCooldownMs"`
SpeedLimitEnabled bool `yaml:"speedLimitEnabled" json:"speedLimitEnabled"`
SpeedLimitMaxWheelMMs int `yaml:"speedLimitMaxWheelSpeed" json:"speedLimitMaxWheelSpeed"`
HardOvercurrentEnabled bool `yaml:"hardOvercurrentEnabled" json:"hardOvercurrentEnabled"`
OvercurrentStopMs int `yaml:"overcurrentStopMs" json:"overcurrentStopMs"`
HardBumpEnabled bool `yaml:"hardBumpEnabled" json:"hardBumpEnabled"`
BumpBackoffSpeed int `yaml:"bumpBackoffSpeed" json:"bumpBackoffSpeed"`
BumpBackoffMs int `yaml:"bumpBackoffMs" json:"bumpBackoffMs"`
CliffEnabled bool `yaml:"cliffEnabled" json:"cliffEnabled"`
CliffBackoffSpeed int `yaml:"cliffBackoffSpeed" json:"cliffBackoffSpeed"`
CliffBackoffMs int `yaml:"cliffBackoffMs" json:"cliffBackoffMs"`
VirtualWallEnabled bool `yaml:"virtualWallEnabled" json:"virtualWallEnabled"`
VirtualWallBackoffSpeed int `yaml:"virtualWallBackoffSpeed" json:"virtualWallBackoffSpeed"`
VirtualWallBackoffMs int `yaml:"virtualWallBackoffMs" json:"virtualWallBackoffMs"`
TriggerCooldownMs int `yaml:"triggerCooldownMs" json:"triggerCooldownMs"`
}
type Config struct {
@@ -303,17 +306,20 @@ func LoadConfig(path string) (*Config, error) {
Private: PrivateConfig{
Enabled: false,
Safety: PrivateSafetyConfig{
SpeedLimitEnabled: false,
SpeedLimitMaxWheelMMs: 250,
HardOvercurrentEnabled: false,
OvercurrentStopMs: 300,
HardBumpEnabled: false,
BumpBackoffSpeed: 250,
BumpBackoffMs: 350,
CliffEnabled: false,
CliffBackoffSpeed: 250,
CliffBackoffMs: 500,
TriggerCooldownMs: 800,
SpeedLimitEnabled: false,
SpeedLimitMaxWheelMMs: 250,
HardOvercurrentEnabled: false,
OvercurrentStopMs: 300,
HardBumpEnabled: false,
BumpBackoffSpeed: 250,
BumpBackoffMs: 350,
CliffEnabled: false,
CliffBackoffSpeed: 250,
CliffBackoffMs: 500,
VirtualWallEnabled: true,
VirtualWallBackoffSpeed: 250,
VirtualWallBackoffMs: 500,
TriggerCooldownMs: 800,
},
},
}
pi/roverd/roverd.debian-laptop.sample.yaml
+6
View File
@@ -95,4 +95,10 @@ private:
cliffEnabled: false
cliffBackoffSpeed: 250
cliffBackoffMs: 500
# Virtual walls are default-on for private rovers because they mark a
# deliberate boundary, and the server can escape by reversing the last
# commanded wheel directions instead of always backing straight up.
virtualWallEnabled: true
virtualWallBackoffSpeed: 250
virtualWallBackoffMs: 500
triggerCooldownMs: 800
pi/roverd/roverd.sample.yaml
+6
View File
@@ -104,4 +104,10 @@ private:
cliffEnabled: false
cliffBackoffSpeed: 250
cliffBackoffMs: 500
# Virtual walls are default-on for private rovers because they mark a
# deliberate boundary, and the server can escape by reversing the last
# commanded wheel directions instead of always backing straight up.
virtualWallEnabled: true
virtualWallBackoffSpeed: 250
virtualWallBackoffMs: 500
triggerCooldownMs: 800
pi/roverd/roverd.yaml
+6
View File
@@ -69,4 +69,10 @@ private:
cliffEnabled: false
cliffBackoffSpeed: 250
cliffBackoffMs: 500
# Virtual walls are default-on for private rovers because they mark a
# deliberate boundary, and the server can escape by reversing the last
# commanded wheel directions instead of always backing straight up.
virtualWallEnabled: true
virtualWallBackoffSpeed: 250
virtualWallBackoffMs: 500
triggerCooldownMs: 800