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46 lines
1.3 KiB
YAML
46 lines
1.3 KiB
YAML
module_name: Roboclaw Driver
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serial_config:
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- command: roboclaw start ${SERIAL_DEV} ${BAUD_PARAM}
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port_config_param:
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name: RBCLW_SER_CFG
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group: Roboclaw
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actuator_output:
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output_groups:
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- param_prefix: RBCLW
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channel_label: 'Channel'
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standard_params:
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disarmed: { min: 128, max: 128, default: 128 }
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min: { min: 1, max: 128, default: 1 }
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max: { min: 128, max: 256, default: 256 }
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failsafe: { min: 0, max: 257 }
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num_channels: 2
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parameters:
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- group: Roboclaw Driver
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definitions:
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RBCLW_COUNTS_REV:
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description:
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short: Number of encoder counts for one wheel revolution
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long: The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
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type: int32
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default: 1200
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min: 1
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RBCLW_ADDRESS:
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description:
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short: Address of the ESC on the bus
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long: The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.
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type: enum
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default: 128
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min: 128
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max: 135
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values:
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128: '0x80'
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129: '0x81'
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130: '0x82'
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131: '0x83'
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132: '0x84'
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133: '0x85'
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134: '0x86'
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135: '0x87'
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