# Naming conventions:
#
# fl - front left  | fr - front right
# cl - center left | cr - center right
# rl - rear left   | rr - rear right

# Pin numbers for motors on PWM board
pin_drive_fl: 9
pin_steer_fl: 11

pin_drive_fr: 0
pin_steer_fr: 2

pin_drive_cl: 8
pin_steer_cl: 10

pin_drive_cr: 1
pin_steer_cr: 3

pin_drive_rl: 7
pin_steer_rl: 4

pin_drive_rr: 6
pin_steer_rr: 5

## PWM values
# Those values highly depend on the motors and pwm board used
# Check out the wiki for further explanation

# PWM values for the neutral steering position
steer_pwm_neutral_fl: 295
steer_pwm_neutral_fr: 295
steer_pwm_neutral_cl: 295
steer_pwm_neutral_cr: 295
steer_pwm_neutral_rl: 295
steer_pwm_neutral_rr: 295

# PWW range around steering neutral position
steer_pwm_range: 250

# PWM values for the stop position of driving motors
drive_pwm_neutral_fl: 307
drive_pwm_neutral_fr: 307
drive_pwm_neutral_cl: 307
drive_pwm_neutral_cr: 307
drive_pwm_neutral_rl: 307
drive_pwm_neutral_rr: 307

# PWW range around driving neutral position
drive_pwm_range: 100

# Steering direction correction for crabbing mode only
#  1 keeps the calculated steering angle
# -1 inverts it for the respective wheel
crab_steer_direction_fl: 1
crab_steer_direction_fr: 1
crab_steer_direction_cl: 1
crab_steer_direction_cr: 1
crab_steer_direction_rl: 1
crab_steer_direction_rr: 1