cmvr_head/applications/config/servo_config.json

{
  "version": 1,
  "servo_count": 4,
  "servos": [
    {
      "id": "eye_l_up",
      "limit_min_angle_rad": -0.8,
      "limit_max_angle_rad": 0,
      "home_angle_rad": 0,
      "driver": {
        "period_ns": 20000000,
        "min_pulse_ns": 500000,
        "max_pulse_ns": 2500000,
        "min_angle_rad": -1.5707963,
        "max_angle_rad": 1.5707963,
        "pwm_dev_name": "pwm1",
        "pwm_channel": 1
      },
      "control": {
        "max_velocity_rad": 20,
        "max_acceleration_rad": 1000.0,
        "max_jerk_rad": 500.0,
        "position_gain": 4.5
      }
    },
    {
      "id": "eye_l_lower",
      "limit_min_angle_rad": -1,
      "limit_max_angle_rad": -0.2,
      "home_angle_rad": -1,
      "driver": {
        "period_ns": 20000000,
        "min_pulse_ns": 500000,
        "max_pulse_ns": 2500000,
        "min_angle_rad": -1.5707963,
        "max_angle_rad": 1.5707963,
        "pwm_dev_name": "pwm1",
        "pwm_channel": 2
      },
      "control": {
        "max_velocity_rad": 20,
        "max_acceleration_rad": 1000.0,
        "max_jerk_rad": 500.0,
        "position_gain": 4.5
      }
    },
    {
      "id": "eye_l_v",
      "limit_min_angle_rad": -0.85,
      "limit_max_angle_rad": 0.85,
      "home_angle_rad": 0,
      "driver": {
        "period_ns": 20000000,
        "min_pulse_ns": 500000,
        "max_pulse_ns": 2500000,
        "min_angle_rad": -1.5707963,
        "max_angle_rad": 1.5707963,
        "pwm_dev_name": "pwm1",
        "pwm_channel": 3
      },
      "control": {
        "max_velocity_rad": 20,
        "max_acceleration_rad": 1000.0,
        "max_jerk_rad": 500.0,
        "position_gain": 4.5
      }
    },
    {
      "id": "eye_l_h",
      "limit_min_angle_rad": -0.65,
      "limit_max_angle_rad": 0.7,
      "home_angle_rad": 0,
      "driver": {
        "period_ns": 20000000,
        "min_pulse_ns": 500000,
        "max_pulse_ns": 2500000,
        "min_angle_rad": -1.5707963,
        "max_angle_rad": 1.5707963,
        "pwm_dev_name": "pwm1",
        "pwm_channel": 4
      },
      "control": {
        "max_velocity_rad": 20,
        "max_acceleration_rad": 1000.0,
        "max_jerk_rad": 500.0,
        "position_gain": 4.5
      }
    }
  ]
}