From fb76ecd5122f8c61c35d0f9bb30f9cfb4243f164 Mon Sep 17 00:00:00 2001
From: legop3 <minecratfd8@gmail.com>
Date: Mon, 1 Dec 2025 21:19:47 -0500
Subject: [PATCH] change default brc pin

---
 dist/roverd                    | Bin 6815928 -> 6815928 bytes
 dist/servoverifier             | Bin 1769656 -> 1769656 bytes
 pi/bin/audio-only-publisher.sh |   2 +-
 pi/roverd/config.go            |   2 +-
 pi/roverd/roverd.sample.yaml   |   2 +-
 pi/roverd/roverd.yaml          |   2 +-
 6 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/dist/roverd b/dist/roverd
index dd9e6a5cb409693108a6bdace9a6d32a0f9945dc..0a27a3990fbd43a934f41ae55c720a2e89a662a7 100755
GIT binary patch
delta 590
zcmbWx%T5yk7>41&sp7exih~D0#S@5?X*+FaDyUVb94doVM?A~4Orf!)laP_P)WwH8
zNLX}h;@U(vmWwcP0Sgim!<t~c0TTVM!Ns$C7w^jZPwI;J`Z3yD4QlC_<<@81(5>0N
z69!JPf4uI-3NuwFm@kC+ie0ux-d2~tMKvq*^X}}scraR=m>Vukhrt`Wu0#|?X%ng#
za$H4S9;^Jyt^NKyxcX&osb&60_g2>j5G}+mLM0-^ZekD7O6(=}5&MY)#6jW^ahQk_
z(jOs?632)(;y9rZ?ZgS<Byoy3O>_{QL>F;}I7^%(x{33|1>z!ciMUMk5WU0|qK~*r
z#E5G|KcN$GB0(exgGdo+B14#jMP!NV!~ii!+#qfew}>2Zo47;V{SJHWPb2u5i!|5&
z+BL1mD*1+I_;FKDm6KjVPv~ArH_~3&GmVUIn!Xj!_$kk9)U<p@tC=+t*;I02QOk=V
zF)T*Js3?egVoW$<T-+B$@jyHjkAy28iwW^WJQdHxbMZpF6tBc<G1*+yyp8Su`)tT(
V-@>L^5@j(Zd{Jp`s?+N`{{X0{x7`2$

delta 589
zcmbWx%T5z<7>4oDso;^mDh`Nv76ePBGt<uWUk`}16b126uu@Q%9&jKNNvvi}bfb$G
zcPvaKu<{Z#A(XB6;DW>rt~K!nO!T`37r))Jc(&et(znFt_tD<sqQ5ZWq)fk5u>7f4
zqe0p9`*YcPm{k63n9see$LoRP4XF=bqJ~-uE9!Z;7`}KmkzH~M3$_`UT13;dR-udh
z_@wqV-Z5BuvljdLdi}@7Tz9rubNb$a*hTCnbRt6RA)1J0VlT0e*iRfF4iblm79vVW
zf0#Hz93@(bV}wDp5$(irqJua=bP^|tQ^aZF3~`n?N1P`v5M4w!agpdDdWlO!jOZic
z#ATwNNDwAr5jK$|QiMaeM4C`UhPXmpC9V<Ii2>pUF-Y7bhKTGYa^HS`q!(#y|IGzP
zk7<=X%T%swTaN1`&04~7lU7xwZRJ^xN>r+Dc|N78tAR1x*=%Q0Rwj{NUNMG6UW|xa
z;<gwSW8#h&7k9-yabG+T1u-Ee#Y0gPkHnNHiD@w-9*ZYpR?Ib44Db7||NC5(&)D*g
SUKSNm6*V#6*wLSE|M>@?@v}bw

diff --git a/dist/servoverifier b/dist/servoverifier
index 2718f57f53c9554c6dabba519b108b62d711fcce..9b4f7cecd23288a9391d1ec5efa1891941a2fa57 100755
GIT binary patch
delta 369
zcmdndn6slXXF~_SW{{(!UrJ6=Qdm)tfva1wMQUY6p1z?+iL;AwQJRHWh^x1OX}L*8
zROIB1{9=|q5!vR(>FJK4*%k&lx$e%M$p&5wEDQ_`B0$Ux#O{8f4FAMVyx38F@v8l%
zNdm9lKjaXteIVE*&?dmxCcxAtz}zOl(k8&#CcxGvz}_an(I&vzCcxDuz}+Um(<Z>%
zCcxJwz~3eyuuVWv-ox86Db*y=B-PNuz%<!7(a6BaATi0n#4Is6(Za+$)xsjx($GBB
zG|_@9sWdYug|jTVSg#~AH`NxX(p1;bP}kTX#K6MJ#K_9jxIHUE5Qv3<SQv;!fLIiW
e#ei5Gh$XgXMMws(q^6D2fi~)GH)E1&`Ue0b*KEK5

delta 369
zcmdndn6slXXF~_Srn^&4foY*zdZv4^OF&k*r?<O_lfGH8cSwY1Wkqs&kfm#)YkH=6
zO7Y~4{9=~6CMG#aerY)=5l)ej*)HLZ#sw)1EDQ_`B0$Ux#O{8f47*(Z>NltM)ZBG?
zUJ`R?KZjx#*ODfIHUY*q0j4$q<~9MAHUZW)0k$>)_BH{IHUZ8y0j@Ry?lu9QHUZu?
z0lqc?{x$)DZ32Sw9^QsVNr^^=mgeThMrP)TCWfg7X67bFDV7$-mWf7YmIlcw=1FO$
zmML6GrI|S?oMp+ydL@~;skTN2My9%khPuWEAqK`)rbbo<7VTLPf<P<;#KJ%<0>q*~
eEC$5lKrFF6D?&1OB{glF4zy8kyBU*I(?0;0CTem3

diff --git a/pi/bin/audio-only-publisher.sh b/pi/bin/audio-only-publisher.sh
index 41f58a20..2bf50db9 100644
--- a/pi/bin/audio-only-publisher.sh
+++ b/pi/bin/audio-only-publisher.sh
@@ -42,7 +42,7 @@ run_pipeline() {
 		-ar "${AUDIO_RATE}" \
 		-ac "${AUDIO_CHANNELS}" \
 		-i <(arecord -D "${AUDIO_DEVICE}" -f S32_LE -c "${AUDIO_CHANNELS}" -r "${AUDIO_RATE}" -B 65536 -F 2048 -q -t raw) \
-		-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=12dB" \
+		-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=20dB" \
 		-c:a libopus \
 		-b:a 24000 \
 		-ar:a 16000 \
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 13fb48a0..b0210f77 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -115,7 +115,7 @@ func LoadConfig(path string) (*Config, error) {
 	cfg := Config{
 		MaxWheelMMs: 500,
 		BRC: BRCConfig{
-			GPIOPin:  -1,
+			GPIOPin:  4,
 			GPIOChip: "gpiochip0",
 			PulseEvery: Duration{
 				Duration: time.Minute,
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index f440e510..707402f3 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s
diff --git a/pi/roverd/roverd.yaml b/pi/roverd/roverd.yaml
index 3457688f..df8367cf 100644
--- a/pi/roverd/roverd.yaml
+++ b/pi/roverd/roverd.yaml
@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s