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- measurement_devices:
- - id: device_1
- position: [1, 802, 70]
- slots:
- - position: [0, 0, 0]
- occupied: False
- slot_id: 0
- - position: [21, 0, 0]
- occupied: False
- slot_id: 1
- - position: [42, 0, 0]
- occupied: False
- slot_id: 2
- - position: [65, 0, 0]
- occupied: False
- slot_id: 3
- - position: [88, 0, 0]
- occupied: False
- slot_id: 4
- - position: [110, 0, 0]
- occupied: False
- slot_id: 5
- - position: [132, 0, 0]
- occupied: False
- slot_id: 6
- - position: [155, 0, 0]
- occupied: False
- slot_id: 7
- feeder:
- robot_pos: [13, 714, 45]
- mag_pos:
- pos_mm: 0
- rot_deg: 0
- min_voltage: 2.0
- max_num_cells: 10
- defeeder:
- robot_pos: [40, 530, 68]
- 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: 10000
- home_speed_mmmin: 2000
- 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: [290, 260, 240, 170] # (x, y, width, height)
- vacuum:
- min_pressure_bar: 0.13
- max_pressure_bar: 0.4
- max_pump_time_s: 20
- gripping_threshold_bar: 0.6
- pump_watchdog_timeout_s: 30
- gpio:
- debug: false
- pump_pin: 17
- valve_pin: 27
- measure_probe_oping: 22
- measure_servo_pin: 11
- measure_servo_angle_start: 0
- measure_servo_angle_end: 45
- 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: 15000
- safe_height: 0.0
- logging:
- level: INFO
- file_path: logs/robot.log
- max_file_size_mb: 1
- backup_count: 3
- console_output: true
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