mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 01:21:20 -04:00
48 lines
1.4 KiB
JavaScript
48 lines
1.4 KiB
JavaScript
// rover Manager constants
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// Purpose: Defines rover-manager configuration constants and immutable default safety values.
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// Scope: Keeps runtime behavior unchanged while isolating fixed thresholds and timing knobs.
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const ALERT_COLOR = '#8bc34a';
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const DOCK_GUARD_WINDOW_MS = 2 * 1000;
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const IDLE_UNDOCKED_MS = 2 * 60 * 1000;
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const PASSIVE_UNDOCKED_MS = 60 * 1000;
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const DOCK_GUARD_RETRY_MS = 10 * 1000;
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const DOCK_COMMAND_BASE64 = Buffer.from([143]).toString('base64');
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const BACKOFF_MS = 500;
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const BACKOFF_SPEED = 300;
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const PRIVATE_BUTTON_HOLD_MS = 3000;
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const PRIVATE_AUTO_CLOSE_IDLE_MS = 30 * 60 * 1000;
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const PRIVATE_AUTO_CLOSE_TICK_MS = 30000;
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const SAFETY_BACKOFF_MIN = -500;
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const SAFETY_BACKOFF_MAX = 500;
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const DEFAULT_PRIVATE_SAFETY = Object.freeze({
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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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});
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module.exports = {
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ALERT_COLOR,
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DOCK_GUARD_WINDOW_MS,
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IDLE_UNDOCKED_MS,
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PASSIVE_UNDOCKED_MS,
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DOCK_GUARD_RETRY_MS,
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DOCK_COMMAND_BASE64,
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BACKOFF_MS,
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BACKOFF_SPEED,
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PRIVATE_BUTTON_HOLD_MS,
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PRIVATE_AUTO_CLOSE_IDLE_MS,
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PRIVATE_AUTO_CLOSE_TICK_MS,
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SAFETY_BACKOFF_MIN,
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SAFETY_BACKOFF_MAX,
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DEFAULT_PRIVATE_SAFETY,
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};
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