first init

config/f19_config_rb48/camera.py

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+configuration = {'parameters': {
+    'width': 1280,
+    'height': 720,
+    'auto_exposure': True,
+    'fps': 10,
+},
+    'crop': {
+    'left': 0,
+    'right': 0,
+    'up': 0,
+    'down': 0,
+},
+    'circle_sight_positions': {
+        'right': '-4',
+        'left': '-3',
+        'front': '-1',
+        'back': '-2',
+}
+}

config/f19_config_rb48/hardware.py

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+configuration = {
+    'wheels': {
+        'version': 'double_wheels',
+        'name': 'wheels',
+        'left_back_can_address': 0x000,
+        'left_front_can_address': 0x100,
+        'right_back_can_address': 0x200,
+        'right_front_can_address': 0x300,
+        'is_left_reversed': False,
+        'is_right_reversed': True,
+        'odrive_version': 6,
+    },
+    'y_axis': {
+        'version': 'y_axis_canopen',
+        'name': 'yaxis',
+        'can_address': 0x70,
+        'max_speed': 300,
+        'reference_speed': 30,
+        'min_position': -0.125,
+        'max_position': 0.125,
+        'axis_offset': 0.13,
+        'steps_per_m': 1_666_666.667,  # 4000steps/turn motor; 1/10 gear; 0.024m/u
+        'end_r_pin': 33,
+        'end_l_pin': 32,
+        'motor_on_expander': False,
+        'end_stops_on_expander': True,
+        'reversed_direction': False,
+        'end_stops_inverted': True,
+        'acceleration': 1000,
+        'quick_stop_deceleration': 4000,
+    },
+    'z_axis': {
+        'version': 'z_axis_canopen',
+        'name': 'zaxis',
+        'can_address': 0x60,
+        'max_speed': 400,
+        'reference_speed': 30,
+        'min_position': -0.197,
+        'max_position': 0.0,
+        'axis_offset': 0.0,
+        'steps_per_m': 4_000_000,  # 4000steps/turn motor; 1/20 gear; 0.02m/u
+        'end_t_pin': 25,
+        'end_b_pin': 22,
+        'motor_on_expander': False,
+        'end_stops_on_expander': True,
+        'reversed_direction': False,
+        'end_stops_inverted': True,
+        'acceleration': 1000,
+        'quick_stop_deceleration': 4000,
+    },
+    'flashlight': {
+        'version': 'flashlight_pwm_v2',
+        'name': 'flashlight',
+        'on_expander': True,
+        'front_pin': 12,
+        'back_pin': 23,
+    },
+    '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,
+    },
+    'bumper': {
+        'name': 'bumper',
+        'on_expander': True,
+        'pins': {'front_top': 21, 'back': 18},
+    },
+    'status_control': {
+        'name': 'status_control',
+    },
+    'bluetooth': {
+        'name': 'fieldfriend-f18',
+    },
+    '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,
+    }
+
+}

config/f19_config_rb48/params.py

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+configuration = {
+    'motor_gear_ratio': 12.52,
+    'thooth_count': 15,
+    'pitch': 0.033,
+    'wheel_distance': 0.47,
+    'work_x': 0.12,
+    'drill_radius': 0.025,
+    'antenna_offset': 0.205,
+    'tool': 'weed_screw',
+}

config/f19_config_rb48/robotbrain.py

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+configuration = {'robot_brain': {
+    'flash_params': ['orin', 'v05', 'nand'],
+    'enable_esp_on_startup': False,
+}}