Raubase configuration file

Revision as of 14:31, 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:

[section]
name = value

Each of the sections are explained a bit here.

[Service]

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

[id]

[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 = 0.08
crossingwidthd = 1
sensorwidth = 0.12
sensorwidthd = 0.7
log = true
lognorm = true
print = false
kp = 40.0
lead = 0.3 0.5
taui = 0.0
logcedge = true
logctrl = false
printctrl = false
maxturnrate = 7.0

[mixer]
log = true
print = false

[motor]
kp = 7.0
lead = 0 1.0
taui = 0.05
maxmotv = 10.0
log = true
print_m1 = false
print_m2 = false
 
[heading]
kp = 10.0
lead = 0.0 1.0
taui = 0.0
maxturnrate = 3.0
log = true
print = false
enabled = false

[pyvision]
host = localhost
port = 25001
log = true
print = false
enabled = false

[servo]
rate_ms = 50
log = true
print = true
printctrl = false

[dist]
rate_ms = 45
ir13cm = 70000 70000
ir50cm = 20000 20000
uscalib = 0.00126953125
log = true
print = false
sensor1 = sharp
sensor2 = sharp

[joy_logitech]
log = true
print = false
device = /dev/input/js0
limit = 1.5 1.5 0.1
button_fast = 5
axis_vel = 4
axis_turn = 3
slow_factor = 0.3
axis_servo = 1
servo = 1
device_type = Logitech Gamepad F710 

[plan20]
run = false
log = true
print = true

[plan21]
run = false
log = true
print = true

[plan40]
run = false
log = true
print = true

[in]
; set 'saveconfig' to 'false' to avoid autosave = 
saveconfig = true
version = 524 2023-12-31 11:48:38