mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 01:21:20 -04:00
108 lines
2.4 KiB
YAML
108 lines
2.4 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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color: "#4DB6AC"
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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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publishPort: 9000
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manage: true
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healthUrl: ""
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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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publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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width: 640
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height: 480
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fps: 30
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bitrate: 2000000
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# Default assumes camera is mounted upside down; set false for upright mounts.
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inverted: true
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sensorMode: 1296:972
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audioCapture:
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enabled: false
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service: audio-only-publisher.service
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publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
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device: hw:0,0
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sampleRate: 48000
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channels: 2
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bitrate: 510000
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audioPlayback:
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enabled: true
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service: audio-forward-listener.service
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forwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
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device: forward
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normalize: true
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cameraServo:
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enabled: false
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pin: 12
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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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invert: false
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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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audio:
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captureEnabled: false
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captureDevice: hw:0,0
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playbackDevice: forward
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ttsEnabled: false
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defaultEngine: flite
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defaultVoice: rms
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defaultPitch: 50
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horn:
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enabled: false
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volume: 0.25
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sampleRate: 48000
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channels: 1
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sineGain: 1.0
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sawGain: 0.7
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maxDuration: 1.2s
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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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triggerCooldownMs: 800
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