config/big.yaml
Drivers:
RopePin:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F09
direction: 'input'
mode: 'digital'
StarterDriver:
type: 'rope' # keyboard, rope
"@dependencies":
ropePin: RopePin
MotionDriver:
startPosition: [ -610, -790, [ -610, -790, 'yellow' ], [ 610, -790, 'blue' ] ]
startOrientation: [ -90, [ -90, 'yellow' ] ]
startSpeed: 100
refreshDataPeriod: 120
CanDriver:
"@class": drivers/can/CanDriver
Lidar:
"@class": drivers/lidar/LidarDriver
"@load": true
cid: 0x00000100
minDistance: 200
"@dependencies":
communicator: CanDriver
LaserBackLeft:
"@class": drivers/infrared/InfraredDriver
"@load": true
"@dependencies":
communicator: CanDriver
infraredMaxDistance: 200
sensorAngle: -90
sensorX: 100
sensorY: 70
cid: 0x00007F0C
objectSize: 150
LaserBackRight:
"@class": drivers/infrared/InfraredDriver
"@load": true
"@dependencies":
communicator: CanDriver
infraredMaxDistance: 200
sensorAngle: -90
sensorX: 100
sensorY: -70
cid: 0x00007F0F
objectSize: 150
LaserFrontCenter:
"@class": drivers/infrared/InfraredDriver
"@load": true
"@dependencies":
communicator: CanDriver
infraredMaxDistance: 300
sensorAngle: 90
sensorX: 0
sensorY: 70
cid: 0x00007F0B
objectSize: 150
LaserFrontLeft:
"@class": drivers/infrared/InfraredDriver
"@load": false
"@dependencies":
communicator: CanDriver
infraredMaxDistance: 300
sensorAngle: 110
sensorX: 0
sensorY: 70
cid: 0x00007F11
objectSize: 150
LaserFrontRight:
"@class": drivers/infrared/InfraredDriver
"@load": false
"@dependencies":
communicator: CanDriver
infraredMaxDistance: 300
sensorAngle: 60
sensorX: 0
sensorY: 70
cid: 0x00007F23
objectSize: 150
ColorSensor:
"@class": drivers/color/ColorDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x000005D1
tolerance: 10
type: 'hsv'
colors:
# yellow: [ 0xfe, 0xf7, 0xdc ]
# blue: [ 0xb4, 0xdb, 0xf1 ]
yellow: [ 28, 32, 250 ]
blue: [ 155, 32, 230 ]
ServoCollectorStopper:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 6
cid: 0x00007F00
VacuumPump:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F02
direction: 'output'
mode: 'digital'
Cylinder:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F03
direction: 'output'
mode: 'digital'
FunnyServo:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x000005D2
direction: 'output'
mode: 'analog'
max: 30
ServoCollectorTrackLeft:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 1
cid: 0x00007F01
ServoCollectorHandLeft:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 2
cid: 0x00007F00
ServoPump:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 5
cid: 0x00007F00
ServoCollectorTrackRight:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 2
cid: 0x00007F01
ServoLimiter:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 6
cid: 0x00007F00
ServoCollectorHandRight:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 11
cid: 0x00007F00
CollectorBigTrack:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F06
direction: 'output'
mode: 'digital'
BackLunarDetector:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F10
direction: 'input'
mode: 'digital'
FrontLunarDetector:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F0E
direction: 'input'
mode: 'digital'
MiddleLunarDetector:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F0D
direction: 'input'
mode: 'digital'
ColorRotator:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F12
min: 0
max: 255
direction: 'output'
mode: 'analog'
ColorRotator2:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F07
direction: 'output'
mode: 'digital'
CircularEjector:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F05
direction: 'output'
mode: 'digital'
CircularInjector:
"@class": drivers/pin/PinDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 0x00007F08
direction: 'output'
mode: 'digital'
ColorServo:
"@class": drivers/dynamixel/DynamixelDriver
"@load": true
"@dependencies":
communicator: CanDriver
id: 7
cid: 0x00007F00
LunarCollector:
"@class": drivers/lunarcollector/LunarCollectorDriver
"@load": true
"@dependencies":
leftTrack: ServoCollectorTrackLeft
rightTrack: ServoCollectorTrackRight
leftHand: ServoCollectorHandLeft
rightHand: ServoCollectorHandRight
bigTrack: CollectorBigTrack
limiter: ServoLimiter
servoPump: ServoPump
vacuumPump: VacuumPump
cylinder: Cylinder
circularEjector: CircularEjector
frontDetector: FrontLunarDetector
backDetector: BackLunarDetector
middleDetector: MiddleLunarDetector
colorRotator: ColorRotator
colorRotator2: ColorRotator2
colorSensor: ColorSensor
colorServo: ColorServo
circularInjector: CircularInjector
Services:
MotionService:
moveOptions:
obstacle: 5000