### Asserv. asserv.tty = "/dev/ttyS0" asserv.footing = 20841 asserv.t_accel = 512 asserv.a_accel = 1024 asserv.t_max_speed = 64 asserv.a_max_speed = 64 asserv.t_max_speed_slow = 8 asserv.a_max_speed_slow = 8 asserv.tkp = 100 asserv.tki = 3 asserv.tkd = 0 asserv.akp = 550 asserv.aki = 7 asserv.akd = 0 asserv.esat = 1023 asserv.isat = 3072 asserv.l_invert_pwm = true asserv.r_invert_pwm = false asserv.step_per_mm = 75.78789091394133410940 # Stats. asserv.pos_report = 10 asserv.in_port_report = 0 asserv.counter_stat = 0 asserv.speed_stat = 0 asserv.pos_stat = 0 asserv.pwm_stat = 0 asserv.timer_stat = 0 ### ES es.tty = "/dev/ttyS1" # Frequency of ack when something important happened es.ack_freq = 10 # Frequency of main stats es.main_stat = 0 # Max false input capture before the sensor is ready for a real capture es.rvb_sensors_false_ic = 3 # Max overflow of the TC1 before though the sensor is dead es.rvb_sensors_max_ov = 250 # Ratio for the algorithm that choose if the color is green or not es.rvb_sniff_ref_ratio = 3 # Limits for the algorithm of choosing between a black or white ball es.rvb_sniff_green_limit = 4300 es.rvb_sniff_clear_limit = 4300 # Stats of RVB Sensor raw data es.rvb_sensor_mask_stat = 0xFFFF es.rvb_sensor_stat = 0 # Stats of RVB Sniff data es.rvb_sniff_mask_stat = 0xFFFF es.rvb_sniff_stat = 0 # Stats of RVB Ball data es.rvb_ball_stat = 0 # Stats of others module (jack + colour selection) es.others_stat = 0 # Stats for printing out key pressed onto the LCD keyboard es.lcd_key_stat = 0 # Print stat of front sensors es.rvb_sniff_front_stat = 0 # Threshold of front sensors at the bottom es.threshold_front_sensors = 4 # Threshold of ball sensors es.threshold_ball_sensors = 4 # Threshold of hole sensor es.threshold_hole_sensors = 4 ### Artificial Intelligency ! # Time of match in milliseconds ! ai.round_duration = 90000 # Max time to wait before release hand if nothing happened on serial (ms). ai.schedule_time = 100 # Reference which sensor at boot time # 127 for the only the lower ones ai.ref_sensor_mask = 127 ### Log # Default minimum level outputed # log.level.default = "debug" # Can be specialized for a specific module # For example, with the module asserv # log.level.asserv = "debug" # The same for the logger used to log # Possible values are : # - null : no log, optimized for time ; # - stdout : to stdout ; # - file:/path/filename : to a file ; # - ram : in a circular buffer for getting it at the end of the program by # network. # log.logger.default = "ram" # log.logger.asserv = "null" log.logger.default = "stdout" log.level.default = "debug" log.logger.proto = "null" ### Exemples foo = "toto" bar = ("a" "b" "c") foobar = (4 5 6 7 8) # TestProto #testProto.tty = "/home/nicolas/robotSVN/n/asserv/src/asserv/uart0.pts"