# Sample configuration for roverd
name: roomba-alpha
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:
  manage: false
  service: mediamtx.service
  healthUrl: http://127.0.0.1:9997/v3/paths/list
  healthInterval: 30s
cameraServo:
  enabled: false
  pin: 19
  freqHz: 50
  cycleLen: 20000
  minPulseUs: 900
  maxPulseUs: 2100
  minAngle: -15
  maxAngle: 30
  homeAngle: 0
  nudgeDegrees: 2
  allowRawPulse: false
ir:
  enabled: false
  pin: 17
  carrierHz: 38000
  cycleLen: 100
  dutyPercent: 50
  bit0OnMs: 1
  bit1OnMs: 3
  bitTotalMs: 4
  repeat: 3
  gapMs: 100
  activeLow: true
  pigpioAddr: localhost:8888