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config.yml
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---
########################################
# Servo Configuration
########################################
#steering_rate: 0.5 # for TT-02 Drift.
# - Server steering angle is calculated angle.
# However, the angle of the vehicle depends on the steering structure.
# Drift type steering, normal steering. Therefore, use this rate for ajust good angle for your car.
#servo_min_pulse: 600 # for TSU-03 Servo
# - Microseconds of HIGH time at which the servo axis angle becomes 0 degree.
# Each servo has different characteristics.
#servo_max_pulse: 2600 # for TSU-03 Servo
# - Microseconds of HIGH time at which the servo axis angle becomes 180 degree.
# Each servo has different characteristics.
#servo_min_angle: 0 # Software value of servo_min_pulse.
# - Angle of servo_min_pulse.
#servo_max_angle: 180 # Software value of servo_max_pulse.
# - Angle of servo_max_pulse.
#servo_neutral_angle: 90 # Neutral steering value.
# - This angle is steering center position.
#servo_delay: 0
# - Setup time. 0 is set the target angle soon.
# Else, set seconds sleep for move from servo_min_angle to servo_max_angle.
# 5.0 means from 0 to 180 takes 5.0 seconds.
#servo_hz: 57.8 # for TEU-105BK
# - This value must be the same as motor_hz.
# If you have 2 PCA9685 chips, you can change Hz from motor_hz.
#servo_min_angle_limit: 55 # for TT02 Drift.
# - This is limit of servo angle.
# 0 to 90 degree is left.
# Normally, servo can move 0 to 180 degree. But car steering cannot move such large angle.
#servo_max_angle_limit: 115 # for TT02 Drift.
# - This is limit of servo angle.
# 90 to 180 degree is right.
# Normally, servo can move 0 to 180 degree. But car steering cannot move such large angle.
#servo_channel: 0
# - PWM connector number.
#servo_busnum: 1
# - I2C Bus number.
# 1 is for Jetson TX2 and Raspberry Pi3.
# 8 is for Jetson Xavier.
#servo_i2c_address: 0x40
# - PCA9685 address
# Default is 0x40.
# If chip address has been changed, set that address.
steering_rate: 0.5 # for TT-02 Drift
servo_reverse: False
servo_min_pulse: 600 # for TSU-03 Servo
servo_max_pulse: 2600 # for TSU-03 Servo
servo_min_angle: 0 # Software value of servo_min_pulse.
servo_max_angle: 180 # Software value of servo_max_pulse.
servo_neutral_angle: 85
servo_delay: 0 # for TSU-03 Servo
servo_hz: 57.8 # for TRU-08 Receiver
servo_min_angle_limit: 55 # Maximum left angle for TT-02 Drift
servo_max_angle_limit: 115 # Maximum right angle for TT-02 Drift
servo_channel: 0
servo_busnum: 1
servo_i2c_address: 0x40
########################################
# Motor Configuration
########################################
#motor_min_pulse: 1184 # Maximum Forward for TEU-105BK
# - Microseconds of HIGH time at which the motor is maximum forward speed.
#motor_max_pulse: 1859 # Maximum Backward for TEU-105BK
# - Microseconds of HIGH time at which the motor is maximum backward speed.
#motor_neutral_pulse: 1606 # for TEU-105BK
# - Neutral position of motor.
# Normally, the neutral position of the motor is not the median value of the pulse.
# The position is shifted to improve the feeling of controll.
#motor_min_start_pulse: 1565 # for TEU-105BK
# - Microseconds of HIGH time at which the motor is start to foward.
#motor_max_start_pulse: 1660 # for TEU-105BK
# - Microseconds of HIGH time at which the motor is start to backward.
#motor_min_speed: -100
# - Software value of motor_max_pulse.
# Value of maximum backward speed.
#motor_max_speed: 100
# - Software value of motor_min_pulse.
# - Value of maximum forward speed.
#motor_neutral_speed: 0 # Don't change.
# - Motor neutral speed.
#motor_delay: 0
# - Setup time.
# 0 equals to set the target speed soon.
# Else, set seconds sleep for move from motor_min_speed to motor_max_speed.
# 5.0 means from -100 to 100 speed up takes 5.0 seconds.
#motor_hz: 57.8 # for TEU-105BK
# - This value must be the same value as servo_hz.
# If you have 2 PCA9685 chips, you can change Hz from servo_hz.
#motor_min_speed_limit: -100
# - Limit of backward speed.
# If motor_min_speed is -100 and motor_min_speed_limit is -50, then the maximum backward speed limits 50%.
# -30 to -50 is good for safety driving.
#motor_max_speed_limit: 100
# - Limit of forward speed.
# If motor_max_speed is 100 and motor_max_speed_limit is 50, then the maximum forward speed limits 50%.
# 30 to 50 is good for safety driving.
#motor_channel: 1
# - PWM connector number.
#motor_busnum: 1
# - I2C Bus number.
# 1 is for Jetson TX2 and Raspberry Pi3.
# 8 is for Jetson Xavier.
#motor_i2c_address: 0x40
# - PCA9685 address
# Default is 0x40.
# If chip address has been changed, set that address.
motor_reverse: False
motor_min_pulse: 1080 # Maximum Forward for TEU-105BK
motor_max_pulse: 1980 # Maximum Backward for TEU-105BK
motor_neutral_pulse: 1520 # for TEU-150BK
motor_min_start_pulse: 1565 # for TEU-105BK
motor_max_start_pulse: 1660 # for TEU-105BK
motor_min_speed: -100 # Software value of motor_max_pulse.
motor_max_speed: 100 # Software value of motor_min_pulse.
motor_neutral_speed: 0 # Don't change.
motor_delay: 1.0
motor_hz: 57.8 # for TEU-105BK
motor_min_speed_limit: -100 # Maximum backward speed limit.
motor_max_speed_limit: 100 # Maximum forward speed limit.
motor_channel: 1
motor_busnum: 1
motor_i2c_address: 0x40