mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
50 lines
997 B
YAML
50 lines
997 B
YAML
# 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: 3000000
|
|
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: true
|
|
captureDevice: plughw:0,0
|
|
sampleRate: 16000
|
|
channels: 1
|
|
bitrate: 64000
|
|
ttsEnabled: false
|
|
defaultEngine: flite
|
|
defaultVoice: rms
|
|
defaultPitch: 50
|