Raubase configuration file: Difference between revisions

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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

Revision as of 13:37, 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]

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

[state]

[state]
log = true
print = false 

[encoder]

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

[pose]

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

[gpio]

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

[imu]

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

[edge]

[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]

[mixer]
log = true
print = false

[motor]

[motor]
kp = 7.0
lead = 0 1.0
taui = 0.05
maxmotv = 10.0
log = true
print_m1 = false
print_m2 = false
 

[heading]

[heading]
kp = 10.0
lead = 0.0 1.0
taui = 0.0
maxturnrate = 3.0
log = true
print = false
enabled = false

[pyvision]

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

[servo]

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

[dist]

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

[joy_logitech]

[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]

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

[plan21]

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

[plan40]

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

[ini]

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