ConfigValues - kizmit99/MechMind GitHub Wiki
MechMind provides many features that are configurable at run-time (versus compile-time). Some of these features are very hardware specific and once setup correctly, should probably not be changed. Some of these include:
- Which controller type will be used for user input at runtime
- Whether or not a PCA9685 based PWM controller is present or not
- Which motor controller type is used to drive the feet motors
- Which motor controller type is used to drive the dome motor
- And, Which audio driver should be used for sounds
Most of the other configuration values are preset to what are hopefully "sane" values, but there may be situations where tweaking of these values could be of benefit.
These configuration attributes are modified through the use of the "setConfig" console command. See Console Command Documentation for more details.
| Key | Type | Values | Description |
|---|---|---|---|
| Initialized | boolean | Whether or not the configuration data has been initialized | |
| 1 | A value of 1 indicates initialization has already occurred | ||
| 0 | Any value other than 1 will result in the Brain performing a factory reset | ||
| Controller | string | Which controller type to instantiate on startup | |
| SonyMove | Instantiate the Dual Sony Move Controller | ||
| DualRing | Instantiate the Dual BLE Ring Controller | ||
| None | Instantiate the Stub Controller (which does nothing) | ||
| PWMService | string | Which PWM Service type to instantiate on startup | |
| PCA9685 | Instantiate the PCA9685 Driver | ||
| None | Instantiate the Stub PWM Driver (which does nothing) | ||
| DriveMotor | string | Which Motor Driver should be instantiated to control the Drive (Feet) motors | |
| Sabertooth | Instantiate the Sabertooth driver (should be complete, but not tested) | ||
| Cytron | Instantiate the Cytron driver (work in progress, not tested) | ||
| PWMMotor | Instantiate the PWM Motor driver appropriate for DRV8871, L298N, etc. | ||
| None | Instantiate the Stub Motor driver (which does nothing) | ||
| DomeMotor | string | Which Motor Driver should be instantiated to control the Dome (Rotation) motor | |
| PWMMotor | Instantiate the PWM Motor driver appropriate for DRV8871, L298N, etc. | ||
| None | Instantiate the Stub Motor driver (which does nothing) | ||
| AudioDriver | string | Which Audio Driver should be instantiated for the playing of sounds | |
| HCR | Use the Human-Cyborg Relations driver | ||
| DFMini | Use the DFPlayer Mini driver | ||
| SparkFun | Use the SparkFun MP3 Trigger driver (not tested) | ||
| None | Instantiate the Stub driver (which does nothing) | ||
| StartDriveOn | boolean | Controls whether or not the Drive stick should be enabled on startup | |
| 0 | Drive stick is disabled on startup | ||
| 1 | Drive stick is enabled on startup | ||
| StartTurboOn | boolean | Controls whether the Drive system should start in Turbo mode on startup | |
| 0 | Turbo mode disabled on startup | ||
| 1 | Turbo Mode enabled on startup | ||
| StartDomeOn | boolean | Controls whether the AutoDome functionality is enabled on startup | |
| 0 | AutoDome disabled on startup (AutoDome may still auto-enable itself) | ||
| 1 | AutoDome enabled on startup |
| Key | Type | Values | Description |
|---|---|---|---|
| RightMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the Right (Drive) controller. Set automatically when first controller connects. |
| RightAltMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the alternate Right (Drive) controller |
| LeftMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the Left (Dome) controller. Set automatically when second controller connects. |
| LeftAltMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the alternate Left (Dome) controller |
| activeTimeout | integer (ms) | During critical operations, no messages from the controller for greater than this many milliseconds will result in a critical fault being thrown, causing the droid to enter failsafe mode. | |
| inactiveTimeout | integer (ms) | While not performing critical operations, no message from the controller for greater than this many milliseconds will result in a critical fault being thrown, causing the droid to enter failsafe mode. | |
| badDataWindow | integer (ms) | Time in milliseconds after one bad data reading before another will be counted. Ten bad data windows in a row will throw an error condition. | |
| DeadbandX | integer | Joystick center deadband in X axis | |
| DeadbandY | integer | Joystick center deadband in Y axis |
| Key | Type | Values | Description |
|---|---|---|---|
| DriveMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the Right (Drive) controller. Set automatically when first controller connects. |
| DomeMAC | string | XX:XX:XX:XX:XX:XX | MAC address of the Left (Dome) controller. Set automatically when second controller connects. |
| Key | Type | Values | Description |
|---|---|---|---|
| Timeout | integer (ms) | Driver will automatically stop the motor if it receives no new commands after this many milliseconds | |
| Deadband | integer (%) | Drive commands to spin slower than this value will be forced to zero (stopped) | |
| RampPowerPerMs | float | Rate at which the driver will increase or decrease motor speed, specified in percent power per millisecond |
| Key | Type | Values | Description |
|---|---|---|---|
| Timeout | integer (ms) | Driver will automatically stop the motor if it receives no new commands after this many milliseconds | |
| Deadband | integer (percent) | Drive commands to spin slower than this value will be forced to zero (stopped) | |
| RampPowerPerMs | float | Rate at which the driver will increase or decrease motor speed, specified in percent power per millisecond |
| Key | Type | Values | Description |
|---|---|---|---|
| Timeout | integer (ms) | Driver will automatically stop the motor if it receives no new commands after this many milliseconds | |
| Deadband | integer (percent) | Drive commands to spin slower than this value will be forced to zero (stopped) | |
| Ramping | integer | Value sent directly to Sabertooth controller – see Sabertooth documentation for more details | |
| MinVoltage | integer | Value sent directly to Sabertooth controller – see Sabertooth documentation for more details | |
| MaxVoltage | integer | Value sent directly to Sabertooth controller – see Sabertooth documentation for more details |
| Key | Type | Values | Description |
|---|---|---|---|
| Timeout | integer (ms) | Driver will automatically stop the motor if it receives no new commands after this many milliseconds | |
| Deadband | integer (percent) | Drive commands to spin slower than this value will be forced to zero (stopped) |
| Key | Type | Values | Description |
|---|---|---|---|
| Speed | integer (percent) | Top speed (specified as percent of motor maximum) that the dome will rotate when under user control | |
| 360TimeMs | integer (ms) | The amount of time it takes the dome to complete one complete rotation (at maximum speed) | |
| Deadband | integer (percent) | Joystick readings below this level will be considered centered (no movement) | |
| AutoEnable | boolean | Master control for whether AutoDome functionality can be enabled (even if requested by user) | |
| 0 | AutoDome functionality is completely disabled | ||
| 1 | AutoDome functionality may be enabled | ||
| AutoAutoEnable | boolean | Controls whether AutoDome functionality automatically engages after some period of inactivity | |
| 0 | AutoDome functionality does not auto-enable after a period of inactivity | ||
| 1 | AutoDome functionality does auto-enable after a period of inactivity | ||
| AutoIdleMs | integer (ms) | The amount of time that must pass without any activity before AutoDome functionality may auto enable | |
| AutoMinSpeed | integer (percent) | The minimum speed AutoDome movements will use (specified as percent of top speed) | |
| AutoMaxSpeed | integer (percent) | The maximum speed AutoDome movements will use (specified as percent of top speed) | |
| AutoMinDelayMs | integer (ms) | The minimum time between AutoDome movements (when enabled and active) | |
| AutoMaxDelayMs | integer (ms) | The maximum time between AutoDome movements (when enabled and active) |
| Key | Type | Values | Description |
|---|---|---|---|
| NormalSpeed | integer (percent) | Top speed the drive motors will achieve when joystick is pushed to maximum (specified as a percent of the motor maximum speed) when operating in Normal drive mode | |
| TurboSpeed | integer (percent) | Top speed the drive motors will achieve when joystick is pushed to maximum (specified as a percent of the motor maximum speed) when operating in Turbo drive mode | |
| TurnSpeed | integer (percent) | Top speed the drive motors will achieve when joystick is pushed to maximum (specified as a percent of the motor maximum speed) while turning | |
| Deadband | integer (percent) | Joystick readings below this level will be considered centered (no movement) |
| Key | Type | Values | Description |
|---|---|---|---|
| Volume | float (0 to 1) | The current volume setting | |
| MaxVolume | float (0 to 1) | Maximum allowable volume level | |
| MinVolume | float (0 to 1) | Minimum allowable volume level | |
| RandomOn | boolean | Controls whether random murmurings are enabled or not | |
| 0 | Random murmurings disabled | ||
| 1 | Random murmurings enabled | ||
| MinRandomMs | integer (ms) | Minimum time between random murmurings | |
| MaxRandomMs | integer (ms) | Maximum time between random murmurings | |
| CmdStaggerMs | integer (ms) | Minimum time between issuing audio commands (some audio drivers get confused if commanded too frequently) |
| Key | Type | Values | Description |
|---|---|---|---|
| <Trigger> | string | <CommandList> | These entries map Triggers (generated by the Controllers) into Command sequences to be executed |
| Attribute | Type | Values | Description |
|---|---|---|---|
| Panel<num>PWMOut | integer | The PWMService output pin associated to Panel <num>. Note that Panel numbers always start at 1, the maximum is defined in droid/core/hardware.h | |
| Panel<num>Open | integer (us) | The PWM pulse width sent to Open Panel <num>'s Servo (specified in microseconds) | |
| Panel<num>Close | integer (ms) | The PWM pulse width sent to Close Panel <num>'s Servo (specified in microseconds) | |
| Panel<num>Time | integer (ms) | The length of time (in milliseconds) the Open/Close command will be active when changing the state of Panel <num> |