measurement_devices:
  - id: device_1
    position: [375.5, 898, 107]
    slots:
      - position: [10, 0, 0]
        occupied: False
        slot_id: 0
      - position: [31, 0, 0]
        occupied: False
        slot_id: 1
      - position: [52, 0, 0]
        occupied: False
        slot_id: 2
      - position: [75, 0, 0]
        occupied: False
        slot_id: 3
      - position: [98, 0, 0]
        occupied: False
        slot_id: 4
      - position: [120, 0, 0]
        occupied: False
        slot_id: 5
      - position: [142, 0, 0]
        occupied: False
        slot_id: 6
      - position: [165, 0, 0]
        occupied: False
        slot_id: 7

feeder:
  robot_pos: [27.5, 621.5, 47.5]
  mag_pos: 
    pos_mm: 0
    rot_deg: 0
  min_voltage: 2.0
  max_num_cells: 10

defeeder:
  robot_pos: [167.5, 630, 40]
  mag_pos: 
    pos_mm: 0
    rot_deg: -90
  max_num_cells: 10

feeder_magazines:
  - mag_pos:
      pos_mm: 100
      rot_deg: 90
    max_num_cells: 70
  - mag_pos:
      pos_mm: 200
      rot_deg: 90
    max_num_cells: 70
  - mag_pos:
      pos_mm: 300
      rot_deg: 90
    max_num_cells: 70

# Order of magazines is implying the priority
defeeder_magazines:
  - mag_pos:
      pos_mm: 100
      rot_deg: -90
    max_num_cells: 70
    health_range: [60, 100]
    name: accept
  - mag_pos:
      pos_mm: 200
      rot_deg: -90
    max_num_cells: 70
    health_range: [0, 60]
    name: reject
  - mag_pos:
      pos_mm: 300
      rot_deg: -90
    max_num_cells: 70
    health_range: [0, 100]
    name: error

mag_distributor:
    debug: True
    max_speed_mmmin: 100
    home_speed_mmmin: 100
    length_mm: 500

mqtt:
  broker: localhost # or debug
  port: 1883
  username: robot
  password: robot
  keepalive: 60

grbl:
  port: /dev/ttyUSB0 # or debug
  # port: debug
  baudrate: 115200

vision:
  camera_id: 0
  resolution: [640, 480]
  frame_rate: 30
  exposure: 0.1
  gain: 1.0
  bbox: [100, 100,  200, 200]  # (x, y, width, height)

vacuum:
  min_pressure_bar: 0.13
  max_pressure_bar: 0.6
  max_pump_time_s: 20
  gripping_threshold_bar: 0.6
  pump_watchdog_timeout_s: 30

gpio:
  debug: false
  pump_pin: 17
  valve_pin: 27
  probe_pin: 22
  
  measure_dir_pin: 11
  measure_step_pin: 9
  measure_en_pin: 10

  mag_dist_pos_dir_pin: -1
  mag_dist_pos_step_pin: -1
  mag_dist_pos_en_pin: -1
  mag_dist_pos_limit_pin: -1
  mag_dist_rot_dir_pin: -1
  mag_dist_rot_step_pin: -1
  mag_dist_rot_en_pin: -1
  mag_dist_rot_limit_pin: -1
  mag_dist_sensor_pin: -1

i2c:
  debug: false

movement:
  speed_mmmin: 400
  safe_height: 0.0

logging:
  level: INFO
  file_path: logs/robot.log
  max_file_size_mb: 1
  backup_count: 3
  console_output: true