# EYEBOT Name
EYEBOT EyeCart

# MOTOR Number | TableName
MOTOR 1 Motor_Table
MOTOR 2 Motor_Table

# Servo Number | Low | High |TableName
# SERVO 1 0 255 Servo_Table

# ENCODER Number | Clicks per meter
ENCODER 1 4200
ENCODER 2 4200

# PSD NUMER | TableName
PSD 1 PSD_TableA
PSD 2 PSD_TableA
PSD 3 PSD_TableA

# IRTV Name | Type | Length | tog_mask | inv_mask | mode | bufsize | delay
IRTV "IRTV0" 0 4 0 0 0 4 20

# IRPARAMS Enable | Code | Delay
IRPARAMS 0 786 5

# WIFI Default_Hotspot(0)/Slave(1)/Custom_Hotspot(2)
WIFI 0

# HOTSPOT Network_Name | Password 
HOTSPOT rob rasp

# SLAVE Network_Name | Password 
#SLAVE MYNET mypassword

# 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 1 1

# RPI RaspPi_Ver(1/2/3)
RPI 3

# DRIVE Wheel distance (90 or 140mm) | Max Motor Speed | Motor1/left dir. (0 = c/w) | Motor2/right dir. (1=clockwise)
DRIVE 170 200 0 1

#DEMOPATH | Path
DEMOPATH /home/pi/eyebot/demo

#SOFTWAREPATH | Path
SOFTWAREPATH /home/pi/usr

# VOMEGA | Vv | Tv | Vw | Tw (Note if 0,0,0,0 will turn off)
VOMEGA 70 30 70 10

# -------------------- TABLES (Optional) ------------------
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

# 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


