parts-9685.yml

# parts.yml
# Parts configuation to drive donkeycar and collect data for training a model
# set enable to False to disable the part from inclusion into the vehicle

# Donkey Car standard build using 9685 PWM controller board

parts:
    Camera:
        class:      PiCamera
        module:     donkeycar.parts.camera
        enable:     True
        args:
            image_w:    160
            image_h:    120
            image_d:    3
            framerate:  20
            vflip:      True
            hflip:      True
        inputs:     []
        outputs:    [cam/image_array]
        threaded:   True

    Controller:
        module: donkeycar.parts.controller
        enable: True
        class: LocalWebController
        args:
            port: cfg.WEB_CONTROL_PORT
            mode: cfg.WEB_INIT_MODE
        inputs:  [cam/image_array, tub/num_records] 
        outputs: [user/angle, user/throttle, user/mode, recording]
        threaded: True
    
    PilotCondition:
        module: parts.helpers
        enable: True
        class: PilotCondition
        args: {}
        inputs:  [user/mode] 
        outputs: [run_pilot]

    AI:
        module: parts.helpers
        enable: True
        class: AI_Pilot
        args:
            cfg: cfg
        inputs:  [cam/image_array] 
        outputs: [pilot/angle, pilot/throttle]
        run_condition: run_pilot

    Tracker:
        class:          RecordTracker
        module:         parts.helpers
        enable:         True
        args:     
            cfg:        cfg
        inputs:         [tub/num_records]
        outputs:        [records/alert]
        run_condition:  recording

    Launch:
        module: donkeycar.parts.launch
        enable: True
        class: AiLaunch
        args: 
            launch_duration: cfg.AI_LAUNCH_DURATION
            launch_throttle: cfg.AI_LAUNCH_THROTTLE
            keep_enabled:    cfg.AI_LAUNCH_KEEP_ENABLED
        inputs: [user/mode, pilot/throttle]
        outputs: [pilot/throttle]
        
    DriveMode:
        module: parts.helpers
        enable: True
        class: DriveMode
        args:
            multiplier: cfg.AI_THROTTLE_MULT
        inputs:  [user/mode, user/angle, user/throttle, pilot/angle, pilot/throttle]
        outputs: [angle, throttle]
    
    DataFiles:
        module: donkeycar.parts.tub_v2
        enable: True
        class: TubWriter
        args:
            base_path: cfg.DATA_PATH
            inputs:   [cam/image_array, user/angle, user/throttle, user/mode]
            types:    [image_array, float, float, str]
            metadata: cfg.USERMETADATA
        inputs:  [cam/image_array,user/angle, user/throttle, user/mode]
        outputs: [tub/num_records]
        run_condition: recording

    PWMDriveTrain_Steering:
        class:      SteeringDriveTrain
        module:     parts.helpers
        enable:     True
        args:
            pin:        PCA9685.1:40.1
            scale:      1.0
            inverted:   False
            left_p:     410
            right_p:    290
        inputs:     [angle] 
        outputs:    []
        threaded:   True
   
    PWMDriveTrain_Throttle:
        class:      ThrottleDriveTrain
        module:     parts.helpers
        enable:     True
        args:
            pin:        PCA9685.1:40.0
            scale:      1.0
            inverted:   False
            max_p:      420
            zero_p:     370
            min_p:      300
        inputs:     [throttle] 
        outputs:    []
        threaded:   True