# EYEBOT Name
EYEBOT EyeBot-Standard

# MOTOR Number | TableName
MOTOR 1 Motor_Table
MOTOR 2 Motor_Table

# Servo Number | Low | High |TableName
SERVO 1 0 255 Servo_Table
SERVO 2 0 255 Servo_Table
SERVO 3 0 255 Servo_Table
SERVO 4 0 255 Servo_Table

# ENCODER Number | Clicks per meter
ENCODER 1 1600
ENCODER 2 1600

# PSD NUMER | TableName
PSD 1 PSD_TableA
PSD 2 PSD_TableA
PSD 3 PSD_TableA
PSD 4 PSD_TableA

# WIFI Default_Hotspot(0)/Slave(1)/Custom_Hotspot(2)
WIFI 0

# HOTSPOT Network_Name | Password 
# HOTSPOT rob rasp

# SLAVE Network_Name | Password 
SLAVE SSID PASS

# RoBIOS On(1)/Off(0) | FontSize
ROBIOS 1 10

# USB Number | DeviceName
USB 1 EyeBot
USB 2 GPS

# DISPLAY LCD(0)/HDMI(1) | Fullscreen Off/On (0/1) | Rotation (0/1) | Autorefresh (0/1)
# Note: Change of rotation requires 2 reboots
LCD 0 0 0 1

# RPI RaspPi_Ver(1/2/3/4)
RPI 4

# DRIVE Wheel distance (90 or 140mm) | Max Motor Speed | Motor1/left dir. (0 = c/w) | Motor2/right dir. (1=clockwise)
DRIVE 90 262 1 2

#DEMOPATH | Path
DEMOPATH /home/pi/eyebot/demo

#SOFTWAREPATH | Path
SOFTWAREPATH /home/pi/usr

# VOMEGA | Kp | Ki | Kd | Klink (Note if 0,0,0,0 will turn off)
# ... PID frequency, Dead-Rockoning min. change for update, Debug-Flag
VOMEGA 4000 400 800 600 25 0 0

# -------------------- TABLES (Optional) ------------------
# Motor Linearisation Table 101 values: 0 .. 100
TABLE Motor_Table
  0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19
 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99
100
END TABLE

# Servo Linearisation Table 256 values: 0 .. 255
TABLE Servo_Table
  0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19
 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99
100 101 102 103 104 105 106 107 108 109 110 111	112 113 114 115 116 117 118 119
120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139
140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159
160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
180 181 182 183 184 185 186 187 188 189 190 191	192 193 194 195 196 197 198 199
200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219
220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239
240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
END TABLE

# PSD Sensor Linearisation Table 128 values in [mm]: 
TABLE PSD_TableA
50 100 150 150 200 200 250
300 300 350 375 400 450 500 500 550 600 650 700 725 750 750 775 800 825 850 900
950 975 1000 1025 1050 1100 1125 1150 1200 1225 1250 1300 1300 1350 1400 1400 1450 1450 1500 1550
1550 1600 1650 1650 1700 1750 1750 1800 1800 1850 1900 1900 1950 2000 2000 2050 2100 2100 2150 2200
2200 2250 2250 2300 2350 2350 2400 2450 2450 2500 2550 2550 2600 2600 2650 2700 2700 2750 2800 2800
2850 2900 2900 2950 3000 3000 3050 3050 3100 3150 3150 3200 3250 3250 3300 3350 3350 3400 3400 3450
3500 3500 3550 3600 3600 3650 3700 3700 3750 3800 3800 3850 3850 3900 3950 3950 4000 4050 4050 4100 4150
END TABLE
