sailingrobot/config_Janet.json at develop · AlandSailingRobots/sailingrobot · GitHub

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{
"config_arduino": {
  "loop_time": 0.1
},

"config_compass": {
  "loop_time":0.5,
  "heading_buffer_size": 1
},

"config_course_regulator": {
  "loop_time": 0.5,
  "max_rudder_angle": 25.0,
  "p_gain": 0.2,
  "i_gain": 0.3,
  "d_gain": 0.4
},

"config_dblogger": {
  "loop_time": 1
},

"config_gps": {
  "loop_time": 0.5
},

"config_line_follow": {
  "loop_time": 0.5,
  "close_hauled_angle": 45,
  "broad_reach_angle": 10,
  "tacking_distance": 15
},

"config_maestro_controller": {
  "port": "/dev/ttyACM0"
},

"config_sail_control": {
  "loop_time": 0.5,
  "max_sail_angle": 85.0,
  "min_sail_angle": 15.0
},

"config_simulator": {
  "loop_time": 0.5
},

"config_vessel_state": {
  "loop_time": 0.5,
  "course_config_speed_1": 0,
  "course_config_speed_2": 1
},

"config_voter_system": {
  "loop_time": 0.5,
  "max_vote": 25,
  "waypoint_voter_weight": 1,
  "wind_voter_weight": 1,
  "channel_voter_weight": 1,
  "midrange_voter_weight": 1,
  "proximity_voter_weight": 2
},

"config_wind_sensor": {
  "loop_time" : 0.5,
  "port": "/dev/ttyS0",
  "baud_rate": 4800
},

"config_xbee": {
  "loop_time": 0.1,
  "send": 1,
  "receive": 1,
  "send_logs": 0,
  "push_only_latest_logs": 1
}
}