Roboteq1.txt

% Server TCP port (e.g. :4001), client IP address and TCP port (e.g. 127.0.0.1:4001) or local RS232 port
%127.0.0.1:4004
COM6
% BaudRate
115200
% Timeout (in ms)
1000
% threadperiod (in ms, require associated thread)
50
% bSaveRawData (require associated thread)
1
% bEcho
1
% PWMs
% channel 0
% MinPW (in us)
1000
% MidPW (in us)
1500
% MaxPW (in us)
2000
% InitPW (in us, 0 to disable channel)
1500
% ThresholdPW (in us)
0
% CoefPW (-1 or 1)
1
% bProportionalPW (0 or 1)
1
% channel 1
% MinPW (in us)
1000
% MidPW (in us)
1500
% MaxPW (in us)
2000
% InitPW (in us, 0 to disable channel)
1500
% ThresholdPW (in us)
0
% CoefPW (-1 or 1)
1
% bProportionalPW (0 or 1)
1
% channel 2
% MinPW (in us)
1000
% MidPW (in us)
1500
% MaxPW (in us)
2000
% InitPW (in us, 0 to disable channel)
1500
% ThresholdPW (in us)
0
% CoefPW (-1 or 1)
1
% bProportionalPW (0 or 1)
1
% AIs
% channel 0
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 1
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 2
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 3
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 4
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 5
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 6
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% channel 7
% analoginputoffset
0
% analoginputthreshold
0
% analoginputcoef
1
% analoginputx (in m, in robot coordinate system)
0
% analoginputy (in m, in robot coordinate system)
0
% analoginputz (in m, in robot coordinate system)
0
% analoginputphi (in rad, in robot coordinate system)
0
% analoginputtheta (in rad, in robot coordinate system)
0
% analoginputpsi (in rad, in robot coordinate system)
0
% analoginputmin
0
% analoginputmax
0
% Specific channels...
% rudderchan
2
% rightthrusterchan
1
% leftthrusterchan
0
% vbat1analoginputchan (disabled if -1)
-1
% ibat1analoginputchan (disabled if -1)
-1
% vbat2analoginputchan (disabled if -1)
-1
% ibat2analoginputchan (disabled if -1)
-1
% vbat3analoginputchan (disabled if -1)
-1
% ibat3analoginputchan (disabled if -1)
-1
% switchanaloginputchan (disabled if -1)
-1