From 2e566f2bdd86f82fed62db10e30394fa495f4a05 Mon Sep 17 00:00:00 2001
From: "Johannes T." <119115663+Johannes-Thiel@users.noreply.github.com>
Date: Fri, 29 Nov 2024 14:31:07 +0100
Subject: [PATCH] add config for f16 (#242)

add the config for the robot f16.
---
 config/f16_config_rb43/camera.py     |  7 +++
 config/f16_config_rb43/hardware.py   | 66 ++++++++++++++++++++++++++++
 config/f16_config_rb43/params.py     | 11 +++++
 config/f16_config_rb43/robotbrain.py |  4 ++
 4 files changed, 88 insertions(+)
 create mode 100644 config/f16_config_rb43/camera.py
 create mode 100644 config/f16_config_rb43/hardware.py
 create mode 100644 config/f16_config_rb43/params.py
 create mode 100644 config/f16_config_rb43/robotbrain.py

diff --git a/config/f16_config_rb43/camera.py b/config/f16_config_rb43/camera.py
new file mode 100644
index 00000000..b158f6f5
--- /dev/null
+++ b/config/f16_config_rb43/camera.py
@@ -0,0 +1,7 @@
+configuration = {
+    'parameters': {
+        'width': 1920,
+        'height': 1080,
+        'auto_exposure': True,
+    },
+}
diff --git a/config/f16_config_rb43/hardware.py b/config/f16_config_rb43/hardware.py
new file mode 100644
index 00000000..8bb7ca5b
--- /dev/null
+++ b/config/f16_config_rb43/hardware.py
@@ -0,0 +1,66 @@
+configuration = {
+    'wheels': {
+        'version': 'double_wheels',
+        'name': 'wheels',
+        'left_back_can_address': 0x100,
+        'left_front_can_address': 0x000,
+        'right_back_can_address': 0x300,
+        'right_front_can_address': 0x200,
+        'is_left_reversed': True,
+        'is_right_reversed': False,
+        'odrive_version': 6,
+    },
+    'y_axis': {
+        'version': 'none',
+    },
+    'flashlight': {
+        'version': 'none',
+    },
+
+    'z_axis': {
+        'version': 'none',
+    },
+    'estop': {
+        'name': 'estop',
+        'pins': {'1': 34, '2': 35},
+    },
+    'bms': {
+        'name': 'bms',
+        'on_expander': True,
+        'rx_pin': 26,
+        'tx_pin': 27,
+        'baud': 9600,
+        'num': 2,
+    },
+    'battery_control': {
+        'name': 'battery_control',
+        'on_expander': True,
+        'reset_pin': 15,
+        'status_pin': 13,
+    },
+    'status_control': {
+        'name': 'status_control',
+    },
+    'bluetooth': {
+        'name': 'fieldfriend-f16',
+    },
+    'serial': {
+        'name': 'serial',
+        'rx_pin': 26,
+        'tx_pin': 27,
+        'baud': 115200,
+        'num': 1,
+    },
+    'expander': {
+        'name': 'p0',
+        'boot': 25,
+        'enable': 14,
+    },
+    'can': {
+        'name': 'can',
+        'on_expander': False,
+        'rx_pin': 32,
+        'tx_pin': 33,
+        'baud': 1_000_000,
+    },
+}
diff --git a/config/f16_config_rb43/params.py b/config/f16_config_rb43/params.py
new file mode 100644
index 00000000..c350d324
--- /dev/null
+++ b/config/f16_config_rb43/params.py
@@ -0,0 +1,11 @@
+configuration = {
+    'motor_gear_ratio': 12.52,
+    'thooth_count': 15,
+    'pitch': 0.033,
+    'wheel_distance': 0.74,
+    'antenna_offset': 0.35,
+    'work_x': -0.06933333,
+    'work_y': 0.0094166667,
+    'drill_radius': 0.025,
+    'tool': 'none',
+}
diff --git a/config/f16_config_rb43/robotbrain.py b/config/f16_config_rb43/robotbrain.py
new file mode 100644
index 00000000..ae834015
--- /dev/null
+++ b/config/f16_config_rb43/robotbrain.py
@@ -0,0 +1,4 @@
+configuration = {'robot_brain': {
+    'flash_params': ['nand', 'orin', 'v05']
+},
+}