60 lines
1.2 KiB
YAML
60 lines
1.2 KiB
YAML
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version: 1
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servo_count: 4
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default_driver: &default_driver
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period_ns: 20000000
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min_pulse_ns: 500000
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max_pulse_ns: 2500000
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min_angle_rad: -1.5707963
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max_angle_rad: 1.5707963
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default_control: &default_control
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max_velocity_rad: 20
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max_acceleration_rad: 1000.0
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max_jerk_rad: 500.0
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position_gain: 4.5
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servos:
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- id: eye_l_up
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limit_min_angle_rad: -0.8
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limit_max_angle_rad: 0
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home_angle_rad: 0
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driver:
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<<: *default_driver
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pwm_dev_name: pwm1
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pwm_channel: 1
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control:
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<<: *default_control
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- id: eye_l_lower
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limit_min_angle_rad: -1
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limit_max_angle_rad: -0.2
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home_angle_rad: -1
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driver:
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<<: *default_driver
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pwm_dev_name: pwm1
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pwm_channel: 2
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control:
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<<: *default_control
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- id: eye_l_v
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limit_min_angle_rad: -0.85
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limit_max_angle_rad: 0.85
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home_angle_rad: 0
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driver:
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<<: *default_driver
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pwm_dev_name: pwm1
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pwm_channel: 3
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control:
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<<: *default_control
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- id: eye_l_h
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limit_min_angle_rad: -0.65
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limit_max_angle_rad: 0.7
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home_angle_rad: 0
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driver:
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<<: *default_driver
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pwm_dev_name: pwm1
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pwm_channel: 4
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control:
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<<: *default_control
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