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文件/hdt.txt

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+# EYEBOT Name
+EYEBOT IBot-D
+
+# MOTOR Number | TableName
+MOTOR 1 Motor_Table
+MOTOR 2 Motor_Table
+
+# Servo Number | Low | High |TableName
+SERVO 1 0 255 Servo_Table
+SERVO 2 0 255 Servo_Table
+SERVO 3 0 255 Servo_Table
+SERVO 4 0 255 Servo_Table
+
+# ENCODER Number | Clicks per meter
+ENCODER 1 6900
+ENCODER 2 6900
+
+# PSD NUMER | TableName
+PSD 1 PSD_TableA
+PSD 2 PSD_TableA
+PSD 3 PSD_TableA
+PSD 4 PSD_TableA
+
+# WIFI Default_Hotspot(0)/Slave(1)/Custom_Hotspot(2)
+WIFI 0
+
+# HOTSPOT Network_Name | Password 
+# HOTSPOT rob rasp
+
+# SLAVE Network_Name | Password 
+SLAVE SSID PASS
+
+# RoBIOS On(1)/Off(0) | FontSize
+ROBIOS 1 10
+
+# USB Number | DeviceName
+USB 1 EyeBot
+USB 2 GPS
+
+# DISPLAY LCD(0)/HDMI(1) | Fullscreen Off/On (0/1) | Rotation (0/1) | Autorefresh (0/1)
+# Note: Change of rotation requires 2 reboots
+LCD 0 0 0 1
+
+# RPI RaspPi_Ver(1/2/3/4)
+RPI 4
+
+# DRIVE Wheel distance (90 or 140mm) | Max Motor Speed | Motor1/left dir. (0 = c/w) | Motor2/right dir. (1=clockwise)
+DRIVE 110 200 1 2
+
+#DEMOPATH | Path
+DEMOPATH /home/pi/eyebot/demo
+
+#SOFTWAREPATH | Path
+SOFTWAREPATH /home/pi/usr
+
+# VOMEGA | Kp | Ki | Kd | Klink (Note if 0,0,0,0 will turn off)
+# ... PID frequency, Dead-Rockoning min. change for update, Debug-Flag
+VOMEGA 400 40 10 50  10 20 0
+
+# -------------------- TABLES (Optional) ------------------
+# Motor Linearisation Table 101 values: 0 .. 100
+TABLE Motor_Table
+  0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19
+ 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
+ 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
+ 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
+ 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99
+100
+END TABLE
+
+# Servo Linearisation Table 256 values: 0 .. 255
+TABLE Servo_Table
+  0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19
+ 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
+ 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
+ 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
+ 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99
+100 101 102 103 104 105 106 107 108 109 110 111	112 113 114 115 116 117 118 119
+120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139
+140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159
+160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
+180 181 182 183 184 185 186 187 188 189 190 191	192 193 194 195 196 197 198 199
+200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219
+220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239
+240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
+END TABLE
+
+# PSD Sensor Linearisation Table 128 values in [mm]: 
+TABLE PSD_TableA
+800 800 800 800 800 800 800 800
+800 800 800 800 800 800 800 800 800 800 800 770 750 720 700 680 650 610 590 560
+540 530 480 470 460 450 440 430 420 410 400 390 380 370 360 350 340 330 330 320
+300 290 280 280 280 270 270 260 250 250 250 240 240 230 230 220 220 210 210 210
+200 200 190 190 190 190 180 180 170 170 170 160 160 160 160 150 150 150 150 150
+140 140 140 140 140 130 130 130 130 130 130 120 120 120 120 110 110 110 110 110
+110 110 110 110 110 110 110 110 110 100 100 100 100 100 100 100  90  90  90  90
+END TABLE