49 lines
1.1 KiB
JSON
49 lines
1.1 KiB
JSON
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{
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"version": 1,
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"servo_count": 2,
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"servos": [
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{
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"id": "eye_l_up",
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"limit_min_angle_rad": -1.5707963,
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"limit_max_angle_rad": 1.5707963,
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"home_angle_rad": 0.0,
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"driver": {
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"pwm_dev_name": "pwm1",
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"pwm_channel": 1,
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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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},
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"control": {
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"max_velocity_rad": 6.28,
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"max_acceleration_rad": 100.0,
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"max_jerk_rad": 500.0,
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"position_gain": 8.0
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}
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},
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{
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"id": "eye_r_up",
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"limit_min_angle_rad": -1.5707963,
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"limit_max_angle_rad": 1.5707963,
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"home_angle_rad": 0.0,
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"driver": {
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"pwm_dev_name": "pwm1",
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"pwm_channel": 2,
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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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},
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"control": {
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"max_velocity_rad": 6.28,
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"max_acceleration_rad": 100.0,
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"max_jerk_rad": 500.0,
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"position_gain": 8.0
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}
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}
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]
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}
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