mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
64 lines
1.2 KiB
YAML
64 lines
1.2 KiB
YAML
# Sample configuration for roverd
|
|
name: roomba-alpha
|
|
description: "Loves corners, hates cords."
|
|
serverUrl: ws://control-server.local:8080/rover
|
|
serial:
|
|
device: /dev/ttyAMA0
|
|
baud: 115200
|
|
brc:
|
|
gpioPin: 4
|
|
gpioChip: gpiochip0
|
|
pulseEvery: 1m
|
|
pulseWidth: 1s
|
|
battery:
|
|
full: 2068
|
|
warn: 1700
|
|
urgent: 1650
|
|
maxWheelSpeed: 350
|
|
media:
|
|
manage: false
|
|
service: mediamtx.service
|
|
healthUrl: http://127.0.0.1:9997/v3/paths/list
|
|
healthInterval: 30s
|
|
cameraServo:
|
|
enabled: false
|
|
pin: 19
|
|
freqHz: 50
|
|
cycleLen: 20000
|
|
minPulseUs: 900
|
|
maxPulseUs: 2100
|
|
minAngle: -15
|
|
maxAngle: 30
|
|
homeAngle: 0
|
|
nudgeDegrees: 2
|
|
allowRawPulse: false
|
|
headlight:
|
|
enabled: true
|
|
gpioPin: 22
|
|
gpioChip: gpiochip0
|
|
initialOn: false
|
|
activeLow: true
|
|
laser:
|
|
enabled: false
|
|
gpioPin: 27
|
|
gpioChip: gpiochip0
|
|
initialOn: false
|
|
activeLow: false
|
|
autoSideBrush:
|
|
enabled: true
|
|
speed: 20
|
|
private:
|
|
enabled: false
|
|
safety:
|
|
speedLimitEnabled: false
|
|
speedLimitMaxWheelSpeed: 250
|
|
hardOvercurrentEnabled: false
|
|
overcurrentStopMs: 300
|
|
hardBumpEnabled: false
|
|
bumpBackoffSpeed: 250
|
|
bumpBackoffMs: 350
|
|
cliffEnabled: false
|
|
cliffBackoffSpeed: 250
|
|
cliffBackoffMs: 500
|
|
triggerCooldownMs: 800
|