base_config.json

{
    "top": {
        "maxRotationAcceleration": 6.0,
        "maxRotationSpeed": 12.0,
        "feedForwardGain": 12.75,
        "minPWM": 18.0,
        "minOutput": -255,
        "maxOutput": 255,
        "k_p": 400.0,
        "k_i": 550.0,
        "k_d": 450.0
    },

    "ultra_angle_calibration": 0.018,
    "ultra_sound_offset": -2,
    "ultra_sound_proportional_offset": 0,

    "touch_ports": [0, 2],
    "bumpers": {
        "left": { "port": 2,"value": 0 },
        "right": { "port": 0, "value": 0 }
    },
    "ultrasonic_port": 3,
    "motor_ports": {
      "left": 2,
      "right": 1,
      "top" : 0
    },

    "prop_ctl": {
        "k_p": 0.07
    },

    "standard_deviation": {
        "x": 1,
        "y": 1,
        "theta_straight": 0.03,
        "ultrasound": 2.2,
        "theta_rotate": 0.08,
        "theta_top_rotate": 0.01
    }
}