# Sample configuration for roverd on a Debian laptop rover.
name: laptop-rover
description: "Debian laptop rover using USB serial, webcam, mic, and speakers."
color: "#4DB6AC"
serverUrl: ws://control-server.local:8080/rover

serial:
  device: /dev/ttyUSB0
  baud: 115200

# BRC is disabled in the first Debian laptop profile because USB serial
# RTS/DTR wake-pulse support needs adapter-specific testing before it should be
# trusted to keep a Roomba awake.
brc:
  gpioPin: -1

battery:
  full: 2068
  warn: 1700
  urgent: 1650

maxWheelSpeed: 350

media:
  publishPort: 9000
  manage: true
  healthUrl: ""
  healthInterval: 30s
  video:
    enabled: true
    service: debian-laptop-video-publisher.service
    publisher: debian-laptop-v4l2
    device: /dev/video0
    # Check supported values with:
    #   v4l2-ctl --device=/dev/video0 --list-formats-ext
    # Common working values are mjpeg and yuyv422.
    inputFormat: mjpeg
    width: 640
    height: 480
    fps: 30
    bitrate: 2000000
    inverted: false
  audioCapture:
    enabled: true
    service: audio-only-publisher.service
    device: default
    sampleRate: 48000
    channels: 2
    bitrate: 510000
  audioPlayback:
    enabled: true
    service: audio-forward-listener.service
    # The Debian laptop installer creates a named "forward" ALSA device so
    # browser-forwarded audio has its own ForwardMaster mixer control instead
    # of sharing the TTS default output path.
    device: forward
    normalize: true

cameraServo:
  enabled: false

audio:
  # TTS does not need Pi-specific hardware. The laptop ALSA profile maps the
  # normal default playback device through the TTSMaster softvol control, so
  # the existing flite/espeak execution path can stay unchanged.
  ttsEnabled: true
  defaultEngine: flite

horn:
  # Horn audio is generated locally by roverd and plays through the named
  # "horn" ALSA device by default, which the laptop installer wires to a
  # separate HornMaster softvol control.
  enabled: true

headlight:
  enabled: false

laser:
  enabled: 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