Configuration

You need to create a small configuration file for the robot. The file needs to be in YAML format and can contain the following values:

• network_interface: Name of the network interface to which the robot is connected (e.g. “eth0”). This parameter is required.

• slider_serial_port: Name of the serial port to which the hardware slider is connected. Set to “auto” to automatically detect the port. Can be omitted (or explicitly set to “none”) if no slider box is used.

• max_motor_current_A (default: 8 A): Maximum current that can be applied to the motors (in Ampere).

• home_offset_rad (default: [0, 0, …]): Offset between home position (=encoder index) and zero position. See Homing and Offset Calibration.

• logger_level (default: “warning”): Controls the verbosity of the output. Valid values are {“trace”, “debug”, “info”, “warning”, “error”, “critical”, “off”}.

Example:

network_interface: enp0s31f6
home_offset_rad: [-0.475, -0.589, -0.500, -0.219,  1.496, -0.308,  0.095, -0.319, -0.177]
logger_level: debug