Raubase configuration file - Revision history

Jca at 16:39, 31 December 2023

2023-12-31T16:39:01Z

← Older revision	Revision as of 18:39, 31 December 2023
Line 1:	Line 1:
		Back to [[Robobot B \| Robobot]]

		Back to [[Robobot software description]]

Jca at 16:36, 31 December 2023

2023-12-31T16:36:05Z

← Older revision		Revision as of 18:36, 31 December 2023
Line 6:		Line 6:
	If no ''robot.ini'' is found, it will be created with default values.		If no ''robot.ini'' is found, it will be created with default values.

	The default ''robot.ini'' ~~looks~~ (pt) ~~like~~ this:		The default ''robot.ini'' has (pt) the values described on this page.

	~~[section]~~
	~~name = value~~

	~~Each of the sections is explained a bit here~~.

	==== [Service] ====		==== [Service] ====

Jca at 16:33, 31 December 2023

2023-12-31T16:33:25Z

← Older revision		Revision as of 18:33, 31 December 2023
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	* run: determines if this behaviour plan is to be used.		* run: determines if this behaviour plan is to be used.

	Used by module in ''bplan20''.		Used by module in ''bplan20.cpp''.

	==== [plan21] ====		==== [plan21] ====
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	* run: determines if this behaviour plan is to be used.		* run: determines if this behaviour plan is to be used.

	Used by module in ''bplan21''.		Used by module in ''bplan21.cpp''.

	==== [plan40] ====		==== [plan40] ====
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	* run: determines if this behaviour plan is to be used.		* run: determines if this behaviour plan is to be used.

	Used by module in ''bplan40''.		Used by module in ''bplan40.cpp''.

	==== [ini] ====		==== [ini] ====

Jca: /* [heading] */

2023-12-31T16:32:34Z

[heading]

← Older revision		Revision as of 18:32, 31 December 2023
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	* maxturnrate: limits the turn rate before being sent to the motor velocity controller.		* maxturnrate: limits the turn rate before being sent to the motor velocity controller.

	Used by the module in ''cheading.cpp''-		Used by the module in ''cheading.cpp''.

	==== [pyvision] ====		==== [pyvision] ====

Jca at 16:32, 31 December 2023

2023-12-31T16:32:14Z

Show changes

Jca at 12:58, 31 December 2023

2023-12-31T12:58:30Z

@@ Line 11: / Line 11: @@
   name = value
-Each of the sections are explained a bit here.
+Each of the sections is explained a bit here.
 ==== [Service] ====
@@ Line 18: / Line 18: @@
   logpath = log/
   ; add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =
 ==== [id] ====
@@ Line 26: / Line 46: @@
   ; robot 'name' and 'idx' are read-only, use command line option to change =
   name = Psyche
 ==== [teensy] ====
@@ Line 34: / Line 56: @@
   print = false
   confirm_timeout = 0.04
 ==== [state] ====
@@ Line 40: / Line 66: @@
   log = true
   print = false
 ==== [encoder] ====
@@ Line 48: / Line 76: @@
   print = false
   encoder_reversed = true
 ==== [pose] ====

Jca at 12:37, 31 December 2023

2023-12-31T12:37:09Z

← Older revision		Revision as of 14:37, 31 December 2023
Line 13:		Line 13:
	Each of the sections are explained a bit here.		Each of the sections are explained a bit here.

	=== [Service] ===		==== [Service] ====

	[service]		[service]
Line 19:		Line 19:
	; add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =		; add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =

	=== [id] ===		==== [id] ====

	[id]		[id]
Line 26:		Line 26:
	; robot 'name' and 'idx' are read-only, use command line option to change =		; robot 'name' and 'idx' are read-only, use command line option to change =
	name = Psyche		name = Psyche

			==== [teensy] ====

	[teensy]		[teensy]
Line 33:		Line 35:
	confirm_timeout = 0.04		confirm_timeout = 0.04

			==== [state] ====

	[state]		[state]
	log = true		log = true
	print = false		print = false

			==== [encoder] ====

	[encoder]		[encoder]
	rate_ms = 8		rate_ms = 8
Line 43:		Line 49:
	encoder_reversed = true		encoder_reversed = true

			==== [pose] ====

	[pose]		[pose]
	gear = 19.0		gear = 19.0
Line 51:		Line 59:
	print = false		print = false

			==== [gpio] ====

	[gpio]		[gpio]
	pins_out = 12=0 16=0		pins_out = 12=0 16=0
Line 58:		Line 68:
	print = false		print = false

			==== [imu] ====

	[imu]		[imu]
	rate_ms = 12		rate_ms = 12
Line 65:		Line 77:
	print_acc = false		print_acc = false

			==== [edge] ====

	[edge]		[edge]
	rate_ms = 8		rate_ms = 8
Line 88:		Line 102:
	maxturnrate = 7.0		maxturnrate = 7.0

			==== [mixer] ====

	[mixer]		[mixer]
	log = true		log = true
	print = false		print = false

			==== [motor] ====

	[motor]		[motor]
	kp = 7.0		kp = 7.0
Line 101:		Line 119:
	print_m2 = false		print_m2 = false

			==== [heading] ====

	[heading]		[heading]
	kp = 10.0		kp = 10.0
Line 110:		Line 130:
	enabled = false		enabled = false

			==== [pyvision] ====

	[pyvision]		[pyvision]
	host = localhost		host = localhost
Line 117:		Line 139:
	enabled = false		enabled = false

			==== [servo] ====

	[servo]		[servo]
	rate_ms = 50		rate_ms = 50
Line 123:		Line 147:
	printctrl = false		printctrl = false

			==== [dist] ====

	[dist]		[dist]
	rate_ms = 45		rate_ms = 45
Line 133:		Line 159:
	sensor2 = sharp		sensor2 = sharp

			==== [joy_logitech] ====

	[joy_logitech]		[joy_logitech]
	log = true		log = true
Line 146:		Line 174:
	device_type = Logitech Gamepad F710		device_type = Logitech Gamepad F710

			==== [plan20] ====

	[plan20]		[plan20]
	run = false		run = false
Line 151:		Line 181:
	print = true		print = true

			==== [plan21] ====

	[plan21]		[plan21]
	run = false		run = false
Line 156:		Line 188:
	print = true		print = true

			==== [plan40] ====

	[plan40]		[plan40]
	run = false		run = false
Line 161:		Line 195:
	print = true		print = true

	[in]		==== [ini] ====

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

Jca at 12:31, 31 December 2023

2023-12-31T12:31:22Z

← Older revision		Revision as of 14:31, 31 December 2023
Line 8:		Line 8:
	The default ''robot.ini'' looks (pt) like this:		The default ''robot.ini'' looks (pt) like this:

			[section]
			name = value

			Each of the sections are explained a bit here.

			=== [Service] ===

	[service]		[service]
Line 13:		Line 19:
	; add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =		; add '%d' in the logpath (e.g. "log_%d/" to generate a timestamped path. =

			=== [id] ===

	[id]		[id]
	type = robobot		type = robobot

Jca at 12:29, 31 December 2023

2023-12-31T12:29:47Z

Show changes

Jca: Created page with " == 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 val..."

2023-12-31T12:25:40Z

Created page with " == 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 val..."

New page

== 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 =