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path: root/i/marvin/runtime/rc/config
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### Asserv.
asserv.tty = "/dev/ttyS0"
asserv.footing = 0x100
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 = 8
asserv.in_port_report = 0
asserv.counter_stat = 8
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 = 3700
es.rvb_sniff_clear_limit = 4000
# Stats of RVB Sensor raw data
es.rvb_sensor_mask_stat = 0xFFFF
es.rvb_sensor_stat = 0
# Reference which sensor at boot time
es.rvb_sniff_ref_mask = 127
# 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 = 10
# Stats for printing out key pressed onto the LCD keyboard
es.lcd_key_stat = 0

### 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"

### 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"