90 lines
2.2 KiB
JSON
90 lines
2.2 KiB
JSON
{
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"version": 1,
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"servo_count": 4,
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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": -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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"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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"pwm_dev_name": "pwm1",
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"pwm_channel": 1
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},
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"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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}
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},
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{
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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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"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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"pwm_dev_name": "pwm1",
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"pwm_channel": 2
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},
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"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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}
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},
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{
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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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"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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"pwm_dev_name": "pwm1",
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"pwm_channel": 3
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},
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"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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}
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},
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{
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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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"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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"pwm_dev_name": "pwm1",
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"pwm_channel": 4
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},
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"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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}
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}
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]
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} |