# Sample configuration for roverd
name: roomba-alpha
serverUrl: ws://control-server.local:8080/rover
serial:
  device: /dev/ttyAMA0
  baud: 115200
brc:
  gpioPin: 17
  gpioChip: gpiochip0
  pulseEvery: 1m
  pulseWidth: 1s
battery:
  full: 2068
  warn: 1700
  urgent: 1650
maxWheelSpeed: 350
media:
  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
  publishPort: 9000
  videoWidth: 1280
  videoHeight: 720
  videoFps: 30
  videoBitrate: 2000000
  manage: true
  service: video-publisher.service
  healthUrl: ""
  healthInterval: 30s
cameraServo:
  enabled: false
  pin: 12
  freqHz: 50
  cycleLen: 20000
  minPulseUs: 900
  maxPulseUs: 2100
  minAngle: -15
  maxAngle: 30
  homeAngle: 0
  nudgeDegrees: 2
  allowRawPulse: false
audio:
  captureEnabled: false
  captureDevice: hw:0,0
  sampleRate: 48000
  channels: 1
  bitrate: 24000
  ttsEnabled: false
  defaultEngine: flite
  defaultVoice: rms
  defaultPitch: 50