mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
79 lines
1.7 KiB
YAML
79 lines
1.7 KiB
YAML
# Sample configuration for roverd
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name: roomba-alpha
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description: "Loves corners, hates cords."
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serverUrl: ws://control-server.local:8080/rover
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serial:
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device: /dev/ttyAMA0
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baud: 115200
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brc:
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gpioPin: 4
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gpioChip: gpiochip0
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pulseEvery: 1m
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pulseWidth: 1s
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battery:
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full: 2068
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warn: 1700
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urgent: 1650
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maxWheelSpeed: 350
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media:
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manage: false
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healthUrl: http://127.0.0.1:9997/v3/paths/list
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healthInterval: 30s
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video:
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enabled: true
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service: video-publisher.service
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publisher: pi-libcamera
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audioCapture:
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enabled: false
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service: audio-only-publisher.service
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audioPlayback:
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enabled: true
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service: audio-forward-listener.service
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cameraServo:
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enabled: false
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pin: 19
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freqHz: 50
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cycleLen: 20000
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minPulseUs: 900
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maxPulseUs: 2100
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minAngle: -15
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maxAngle: 30
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homeAngle: 0
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nudgeDegrees: 2
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allowRawPulse: false
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headlight:
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enabled: true
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gpioPin: 22
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gpioChip: gpiochip0
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initialOn: false
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activeLow: true
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laser:
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enabled: false
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gpioPin: 27
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gpioChip: gpiochip0
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initialOn: false
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activeLow: false
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autoSideBrush:
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enabled: true
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speed: 20
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private:
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enabled: false
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safety:
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speedLimitEnabled: false
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speedLimitMaxWheelSpeed: 250
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hardOvercurrentEnabled: false
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overcurrentStopMs: 300
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hardBumpEnabled: false
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bumpBackoffSpeed: 250
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bumpBackoffMs: 350
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cliffEnabled: false
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cliffBackoffSpeed: 250
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cliffBackoffMs: 500
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# Virtual walls are default-on for private rovers because they mark a
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# deliberate boundary, and the server can escape by reversing the last
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# commanded wheel directions instead of always backing straight up.
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virtualWallEnabled: true
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virtualWallBackoffSpeed: 250
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virtualWallBackoffMs: 500
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triggerCooldownMs: 800
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