Memristor-Robotics/mep-master

Drivers:
  RopePin:
    "@class": drivers/pin/PinDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    cid: 0x00007F10
    direction: 'input'
    mode: 'digital'

  StarterDriver:
    type: 'keyboard' # keyboard, rope
    "@dependencies":
      ropePin: RopePin

  MotionDriver:
    startPosition: [ -1200, -790, [ 1200, -790, 'blue' ] ]
    startOrientation: [ 180, [ 0, 'yellow' ] ]
    startSpeed: 100
    refreshDataPeriod: 120

  Servo:
    "@class": drivers/dynamixel/DynamixelDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    id: 1
    cid: 0x00007F00

  ColorRotator:
    "@class": drivers/pin/PinDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    cid: 0x00007F14
    min: 0
    max: 255
    direction: 'output'
    mode: 'analog'

  DirectionBall:
    "@class": drivers/dynamixel/DynamixelDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    id: 20
    cid: 0x00007F00

  ColorSensor:
    "@class": drivers/color/ColorDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    cid: 0x000005D1
    tolerance: 10
    type: 'hsv'
    colors:
      yellow: [ 28, 32, 250 ]
      blue: [ 155, 32, 230 ]

  ColorRamp:
    "@class": drivers/dynamixel/DynamixelDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    id: 21
    cid: 0x00007F00

  ColorIrSensor:
    "@class": drivers/infrared/InfraredDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    infraredMaxDistance: 20
    sensorAngle: 0
    sensorX: 0
    sensorY: 0
    cid: 0x00007F0E
    objectSize: 1
  BallPicker:
    "@class": drivers/dynamixel/DynamixelDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    id: 50
    cid: 0x00007F00

  LaserBack:
    "@class": drivers/infrared/InfraredDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    infraredMaxDistance: 200
    sensorAngle: 90
    sensorX: 0
    sensorY: 0
    cid: 0x00007F0C
    objectSize: 150

  LaserFrontLeft:
    "@class": drivers/infrared/InfraredDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    infraredMaxDistance: 200
    sensorAngle: -90
    sensorX: 0
    sensorY: 0
    cid: 0x00007F21
    objectSize: 150

  LaserFrontRight:
    "@class": drivers/infrared/InfraredDriver
    "@load": true
    "@dependencies":
      communicator: CanDriver
    infraredMaxDistance: 200
    sensorAngle: -90
    sensorX: 0
    sensorY: 0
    cid: 0x00007F11
    objectSize: 150

Services:
  MotionService:
    moveOptions:
      obstacle: 1500
      friend: 1000