61 lines
1.3 KiB
YAML
61 lines
1.3 KiB
YAML
# Naming conventions:
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#
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# fl - front left | fr - front right
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# cl - center left | cr - center right
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# rl - rear left | rr - rear right
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# Pin numbers for motors on PWM board
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pin_drive_fl: 9
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pin_steer_fl: 11
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pin_drive_fr: 0
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pin_steer_fr: 2
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pin_drive_cl: 8
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pin_steer_cl: 10
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pin_drive_cr: 1
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pin_steer_cr: 3
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pin_drive_rl: 7
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pin_steer_rl: 4
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pin_drive_rr: 6
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pin_steer_rr: 5
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## PWM values
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# Those values highly depend on the motors and pwm board used
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# Check out the wiki for further explanation
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# PWM values for the neutral steering position
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steer_pwm_neutral_fl: 295
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steer_pwm_neutral_fr: 295
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steer_pwm_neutral_cl: 295
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steer_pwm_neutral_cr: 295
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steer_pwm_neutral_rl: 295
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steer_pwm_neutral_rr: 295
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# PWW range around steering neutral position
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steer_pwm_range: 250
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# PWM values for the stop position of driving motors
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drive_pwm_neutral_fl: 307
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drive_pwm_neutral_fr: 307
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drive_pwm_neutral_cl: 307
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drive_pwm_neutral_cr: 307
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drive_pwm_neutral_rl: 307
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drive_pwm_neutral_rr: 307
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# PWW range around driving neutral position
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drive_pwm_range: 100
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# Steering direction correction for crabbing mode only
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# 1 keeps the calculated steering angle
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# -1 inverts it for the respective wheel
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crab_steer_direction_fl: 1
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crab_steer_direction_fr: 1
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crab_steer_direction_cl: 1
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crab_steer_direction_cr: 1
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crab_steer_direction_rl: 1
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crab_steer_direction_rr: 1
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