sherbert_lemon.json

{
    "type": "BOT",
    "name": "Sherbert Lemon",
    "uuid": "92faa9a1-c183-449d-9af4-69c23ec77c74",
    "cameras": [
        {
            "name": "front_head",
            "path": "/dev/v4l/by-id/usb-Jieli_Technology_USB_PHY_2.0-video-index0",
            "fps": 15,
            "resolution": [400,300],
            "control_x": {
                "type": "AXIS_CONTROL",
                "axis": "yaw",
                "rate": 1
            }
        }
    ],
    "control_scheme": "RPI_ONBOARD_GPIO",
    "actuators": [
        {
            "name": "left",
            "type": "BRUSHED",
            "encoder_step": 0.1,
            "has_encoder": true,
            "motor_pins": {
                "cw": 36,
                "ccw": 33
            },
            "encoder_pins": [13, 15]
        },
        {
            "name": "front",
            "type": "BRUSHED",
            "encoder_step": 0.1,
            "has_encoder": true,
            "motor_pins": {
                "cw": 38, 
                "ccw": 35
            },
            "encoder_pins": [16, 18]
        },
        {
            "name": "right",
            "type": "BRUSHED",
            "encoder_step": 0.1,
            "has_encoder": true,
            "motor_pins": {
                "cw": 37, 
                "ccw": 40
            },
            "encoder_pins": [29, 31]
        }
    ],
    "intents": {
        "x": {
            "front": 0,
            "left": 1,
            "right": -1
        },
        "y": {
            "front": -1,
            "left": 0,
            "right": 0
        },
        "yaw": {
            "front": 1,
            "left": 1,
            "right": 1
        }
    }
}