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config_simulation.yaml
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config_simulation.yaml
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master:
is_main_robot: false
control_panel_active_high: true
electron_uwb_mac: 42
robot_size_x_mm: 260 # Robot diameter
robot_alignment_length_mm: 135 # robot length from center to alignement border
opponent_size_x_mm_default: 400
calibration_direction: 1 # calibration side is on the front
odometry:
external_encoder_ticks_per_mm: 162.
external_track_mm: 174.
left_wheel_correction_factor: -1.
right_wheel_correction_factor: 1.
beacon:
reflector_radius: 0.04 # in meters
angular_offset: 0. # in radians
aversive:
control:
angle:
kp: 2.5
ki: 0.
kd: 0.
i_limit: 10.
distance:
kp: 1.5
ki: 0.
kd: 0.
i_limit: 10.
trajectories:
angle:
speed: # in rad / s
init: 0.75
slow: 0.75
fast: 3.
acceleration: # in rad / s^2
init: 1.57
slow: 1.57
fast: 10.
distance:
speed: # in m / s
init: 0.5
slow: 0.2
fast: 0.5
acceleration: # in m / s^2
init: 1.5
slow: 0.5
fast: 1.5
windows:
distance: 100.
angle: 1.
angle_start: 40.
actuators:
# In simulation, those are directly angles
actuator-front-left:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671
actuator-front-center:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671
actuator-front-right:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671
actuator-back-left:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671
actuator-back-center:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671
actuator-back-right:
high_position: 0.1
table_pickup_position: 1.017
reef_pickup_position: 1.671