mirror of
https://gitlab.com/yikestone/qt_pi.git
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31 lines
524 B
YAML
31 lines
524 B
YAML
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port: /dev/ttyUSB0
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baud: 57600
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timeout: 0.1
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rate: 100
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use_base_controller: True
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base_controller_rate: 50
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# For a robot that uses base_footprint, change base_frame to base_footprint
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base_frame: base_link
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camera_frame: camera_depth_frame
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# === Robot drivetrain parameters
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wheel_diameter: 0.0703464848466
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wheel_track: 0.22
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encoder_resolution: 240 # from Pololu for 131:1 motors
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motors_reversed: False
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gear_reduction: 1.0
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# === PID parameters
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lKp: 50
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lKd: 10
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lKi: 0
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lKo: 20
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rKp: 50
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rKd: 10
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rKi: 0
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rKo: 20
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#accel_limit: 0.1
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