module_name: Roboclaw Driver
serial_config:
  - command: roboclaw start ${SERIAL_DEV} ${BAUD_PARAM}
    port_config_param:
      name: RBCLW_SER_CFG
      group: Roboclaw

actuator_output:
  output_groups:
    - param_prefix: RBCLW
      channel_label: 'Channel'
      standard_params:
        disarmed: { min: 128, max: 128, default: 128 }
        min: { min: 1, max: 128, default: 1 }
        max: { min: 128, max: 256, default: 256 }
        failsafe: { min: 0, max: 257 }
      num_channels: 2

parameters:
  - group: Roboclaw Driver
    definitions:
      RBCLW_COUNTS_REV:
        description:
          short: Number of encoder counts for one wheel revolution
          long: The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
        type: int32
        default: 1200
        min: 1
      RBCLW_ADDRESS:
        description:
          short: Address of the ESC on the bus
          long: The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.
        type: enum
        default: 128
        min: 128
        max: 135
        values:
          128: '0x80'
          129: '0x81'
          130: '0x82'
          131: '0x83'
          132: '0x84'
          133: '0x85'
          134: '0x86'
          135: '0x87'