config/default.yaml
simulation: true
table: ''
performance: false
robot: ''
scheduler: ''
host: ''
server: ''
obstacleMaxPeriod: 300
duration: 90
volume: 1280
friendIp: 192.168.12.145
Log:
Console:
active: true
outputMode: short
color: true
File:
active: false
file: javascript.log
period: 1d
count: 3
Telemetry:
port: 1200
Drivers:
MotionDriver:
"@class": drivers/motion/MotionDriver
"@load": true
"@dependencies":
communicator: CanDriver
cid: 600
startSpeed: 100
precision: 2
refreshDataPeriod: 100
CanDriver:
"@class": drivers/can/CanDriver
"@load": true
device: can0
bitrate: 500000
StarterDriver:
"@class": drivers/starter/StarterDriver
"@load": true
type: keyboard
delayTimer:
Services:
PositionService:
MotionService:
hazardObstacleDistance: 450
moveOptions:
obstacle: 90000
friend: 90000
rerouting: false
pf: false
backward: false
relative: false
tolerance: -1
speed: 100
radius: 80
rotateOptions:
relative: false
TerrainService:
staticObstacles:
# Middle
- [{ x: -550, y: 1001 }, { x: -700, y: 370 }, { x: 0, y: 20 }, { x: 700, y: 370 }, { x: 550, y: 1001 }]
# Our corner
- [{ x: -790, y: 1001 }, { x: -950, y: 400 }, { x: -1501, y: 330 }]
# Our start position
- [{ x: -1501, y: -550 }, { x: -1100, y: -500 }, { x: -850, y: -100 }, { x: -600, y: -400 }, { x: -600, y: -1001 }]
# Their start position
- [{ x: 1501, y: -550 }, { x: 1100, y: -500 }, { x: 850, y: -100 }, { x: 600, y: -400 }, { x: 600, y: -1001 }]
# Their corner
- [{ x: 790, y: 1001 }, { x: 950, y: 400 }, { x: 1501, y: 330 }]
# Our side cartridge
- [{ x: -1500, y: 220 }, { x: -1300, y: 220 }, { x: -1300, y: -350 }, { x: -1500, y: -350 } ]
# Their side cartridge
- [{ x: 1500, y: 220 }, { x: 1300, y: 220 }, { x: 1300, y: -350 }, { x: 1500, y: -350 } ]
SchedulerService:
ShareService: