Raubase configuration file

Revision as of 13:25, 31 December 2023

Robot.ini

The configuration file is called robot.ini and must be found in the default directory. If no robot.ini is found, it will be created with default values.

The default robot.ini looks (pt) like this:

[service] logpath = log/

add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =

[id] type = robobot idx = 149

robot 'name' and 'idx' are read-only, use command line option to change =

name = Psyche

[teensy] device = /dev/ttyACM0 log = true print = false confirm_timeout = 0.04

[state] log = true print = false

[encoder] rate_ms = 8 log = true print = false encoder_reversed = true

[pose] gear = 19.0 wheeldiameter = 0.146 enctickperrev = 64 wheelbase = 0.243 log = true print = false

[gpio] pins_out = 12=0 16=0 stop_on_stop = true blink_period_ms = 600 log = true print = false

[imu] rate_ms = 12 gyro_offset = 0 0 0 log = true print_gyro = false print_acc = false

[edge] rate_ms = 8 highpower = true lograw = true printraw = false calibwhite = 1000 1000 1000 1000 1000 1000 1000 1000 calibblack = 0 0 0 0 0 0 0 0 whitethreshold = 700 crossingwidth =