# Copyright: 2016-2020 www.corvin.cn ROS小课堂
# Description:arduino节点运行时加载的参数,下面对参数进行解释:
#   is_use_serial:与arduino通信是否使用串口,false的话就是IIC通信
#   serial_port:串口通信时arduino的端口号
#   serial_baud:串口通信时波特率
#   i2c_smbus_num:系统管理总线号,树莓派为1
#   isc_slave_addr:arduino的IIC设备地址
# Author: corvin
# History:
#   20200706:init this file.

is_use_serial: True

# /dev/ttyACM# where is # is a number such as 0, 1 etc
serial_port: /dev/ttyACM0
serial_baud: 57600

i2c_smbus_num: 1   #raspberryPi:1, huawei altals 200DK: 2
i2c_slave_addr: 0x08  #Get arduino due i2c slave addr

timeout: 0.5

rate: 25

cmd_topic: cmd_vel

base_controller_rate: 10.0
base_controller_timeout: 0.7

# For a robot that uses base_footprint, change base_frame to base_footprint
base_frame: base_footprint
odom_name: odom

# Robot drivetrain parameters
wheel_diameter: 0.067
wheel_track: 0.21     #L value
encoder_resolution: 11 #12V DC motors
gear_reduction: 19     #empty payload rpm 130 r/m
linear_scale_correction: 1.028
angular_scale_correction: 1.00

# === PID parameters
debugPID: False

accel_limit: 0.05

AWheel_Kp: 22
AWheel_Kd: 30
AWheel_Ki: 0
AWheel_Ko: 50

BWheel_Kp: 22
BWheel_Kd: 30
BWheel_Ki: 0
BWheel_Ko: 50

# Sensor definitions (case sensitive!):
sensors: {
  batPercent: {pin: 0, type: BAT_PERCENT, rate: 0.1, direction: input},
}

