# Sample configuration for roverd
name: roomba-alpha
description: "Loves corners, hates cords."
color: "#4DB6AC"
serverUrl: ws://control-server.local:8080/rover
serial:
  device: /dev/ttyAMA0
  baud: 115200
brc:
  gpioPin: 4
  gpioChip: gpiochip0
  pulseEvery: 1m
  pulseWidth: 1s
battery:
  full: 2068
  warn: 1700
  urgent: 1650
maxWheelSpeed: 350
media:
  publishPort: 9000
  manage: true
  healthUrl: ""
  healthInterval: 30s
  video:
    enabled: true
    service: video-publisher.service
    publisher: pi-libcamera
    publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
    width: 640
    height: 480
    fps: 30
    bitrate: 2000000
    # Default assumes camera is mounted upside down; set false for upright mounts.
    inverted: true
    sensorMode: 1296:972
  audioCapture:
    enabled: false
    service: audio-only-publisher.service
    publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
    device: hw:0,0
    sampleRate: 48000
    channels: 2
    bitrate: 510000
  audioPlayback:
    enabled: true
    service: audio-forward-listener.service
    forwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
    device: forward
    normalize: true
cameraServo:
  enabled: false
  pin: 12
  freqHz: 50
  cycleLen: 20000
  minPulseUs: 900
  maxPulseUs: 2100
  invert: false
  minAngle: -15
  maxAngle: 30
  homeAngle: 0
  nudgeDegrees: 2
  allowRawPulse: false
audio:
  captureEnabled: false
  captureDevice: hw:0,0
  playbackDevice: forward
  ttsEnabled: false
  defaultEngine: flite
  defaultVoice: rms
  defaultPitch: 50
horn:
  enabled: false
  volume: 0.25
  sampleRate: 48000
  channels: 1
  sineGain: 1.0
  sawGain: 0.7
  maxDuration: 1.2s
headlight:
  enabled: true
  gpioPin: 22
  gpioChip: gpiochip0
  initialOn: false
  activeLow: true
laser:
  enabled: false
  gpioPin: 27
  gpioChip: gpiochip0
  initialOn: false
  activeLow: false
autoSideBrush:
  enabled: true
  speed: 20
private:
  enabled: false
  safety:
    speedLimitEnabled: false
    speedLimitMaxWheelSpeed: 250
    hardOvercurrentEnabled: false
    overcurrentStopMs: 300
    hardBumpEnabled: false
    bumpBackoffSpeed: 250
    bumpBackoffMs: 350
    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