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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,
},
},
}