firmware/kaiaai-esp32/data/config.yaml at iron · kaiaai/firmware · GitHub

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#
# Board-specific assignments
#
board:
  manufacturer: makerspet.com
  model: MINI-BDC30P-BODY with BDC-30P
  version: v1.1.1
lidar:
  gpio:
    tx: 35
    rx: 27
    pwm: 13
    en: 32
led:
  system:
    driver:
      type: direct
      gpio: 2
      invert: false
button:
  boot:
    gpio: 0
    invert: true
monitor:
  gpio:
    tx: 1
motor:
  driver:
    type: IN1_IN2
  encoder:
    type: AB_QUAD
  left:
    encoder:
      gpio:
        a: 39
        b: 36
    driver:
      gpio:
        in1: 26
        in2: 25
  right:
    encoder:
      gpio:
        a: 17
        b: 16
    driver:
      gpio:
        in1: 23
        in2: 22
adc:
  battery:
    attenuation: 7.0
    gpio: 33
    voltage:
      full: 9.9
      empty: 7.2

#
# Peripherals configuration
#
lidar:
  model: LDROBOT LD14P
# model: LDROBOT LD19
# model: NEATO XV11
# model: SLAMTEC RPLIDAR A1
# model: XIAOMI LDS02RR
# model: YDLIDAR SCL
# model: YDLIDAR X2
# model: YDLIDAR X2L
# model: YDLIDAR X3
# model: YDLIDAR X3 PRO
# model: 3IROBOTIX DELTA-2G
# model: 3IROBOTIX DELTA-2A 115200
# model: 3IROBOTIX DELTA-2A
# model: 3IROBOTIX DELTA-2B
# model: YDLIDAR X4 PRO
# model: YDLIDAR X4
  scan:
    freq:
      target: 5.0
monitor:
  baud: 115200
base:
  wheel:
    track: 0.105043
    diameter: 0.043
    accel:
      max: 2.0
motor:
  rpm:
# derated
    max: 180
  driver:
    pid:
      period: 0.03
      kp: 0.001
      ki: 0.003
      kd: 0
      kpm: 0
  encoder:
    ppr: 1035