From 570eb4dbbbd8a9035c3ba6298bfc55b8a85a1cb1 Mon Sep 17 00:00:00 2001 From: Jonathan Lee Date: Sat, 7 Mar 2020 14:48:08 -0800 Subject: [PATCH] Added KoalaBear parameters --- runtime/runtime/config/devices.yaml | 75 ++++++++++++++++++++++++++++- 1 file changed, 74 insertions(+), 1 deletion(-) diff --git a/runtime/runtime/config/devices.yaml b/runtime/runtime/config/devices.yaml index f4229807..d322988e 100644 --- a/runtime/runtime/config/devices.yaml +++ b/runtime/runtime/config/devices.yaml @@ -235,10 +235,83 @@ smartsensor: - name: deadband type: float writeable: true + KoalaBear: + id: 13 + params: + - name: duty_cycle_a + type: float + writeable: true + lower: -1.0 + upper: 1.0 + subscribed: true + - name: pid_kp_a + type: float + readable: false + writeable: true + lower: 0.0 + - name: pid_ki_a + type: float + readable: false + writeable: true + lower: 0.0 + - name: pid_kd_a + type: float + readable: false + writeable: true + lower: 0.0 + - name: enc_pos_a + type: float + writeable: true + subscribed: true + - name: deadband_a + type: float + writeable: true + - name: motor_enabled_a + type: bool + writeable: true + subscribed: true + - name: drive_mode_a + type: uint8 + writeable: true + - name: duty_cycle_b + type: float + writeable: true + lower: -1.0 + upper: 1.0 + subscribed: true + - name: pid_kp_b + type: float + readable: false + writeable: true + lower: 0.0 + - name: pid_ki_b + type: float + readable: false + writeable: true + lower: 0.0 + - name: pid_kd_b + type: float + readable: false + writeable: true + lower: 0.0 + - name: enc_pos_b + type: float + writeable: true + subscribed: true + - name: deadband_b + type: float + writeable: true + - name: motor_enabled_b + type: bool + writeable: true + subscribed: true + - name: drive_mode_b + type: uint8 + writeable: true dawn: Gamepad: - id: 13 + id: 14 params: - name: button_a type: bool