version: 1
servo_count: 4

default_driver: &default_driver
  period_ns: 20000000
  min_pulse_ns: 500000
  max_pulse_ns: 2500000
  min_angle_rad: -1.5707963
  max_angle_rad: 1.5707963

default_control: &default_control
  max_velocity_rad: 20
  max_acceleration_rad: 1000.0
  max_jerk_rad: 500.0
  position_gain: 4.5

servos:
  - id: eye_l_up
    limit_min_angle_rad: -0.8
    limit_max_angle_rad: 0
    home_angle_rad: 0
    driver:
      <<: *default_driver
      pwm_dev_name: pwm1
      pwm_channel: 1
    control:
      <<: *default_control

  - id: eye_l_lower
    limit_min_angle_rad: -1
    limit_max_angle_rad: -0.2
    home_angle_rad: -1
    driver:
      <<: *default_driver
      pwm_dev_name: pwm1
      pwm_channel: 2
    control:
      <<: *default_control

  - id: eye_l_v
    limit_min_angle_rad: -0.85
    limit_max_angle_rad: 0.85
    home_angle_rad: 0
    driver:
      <<: *default_driver
      pwm_dev_name: pwm1
      pwm_channel: 3
    control:
      <<: *default_control

  - id: eye_l_h
    limit_min_angle_rad: -0.65
    limit_max_angle_rad: 0.7
    home_angle_rad: 0
    driver:
      <<: *default_driver
      pwm_dev_name: pwm1
      pwm_channel: 4
    control:
      <<: *default_control