config

BatteryControlConfiguration dataclass

BatteryControlConfiguration(
    *,
    name: str = "battery_control",
    on_expander: bool = True,
    reset_pin: int = 15,
    status_pin: int = 13
)

Configuration for the battery control of the Feldfreund robot.

Defaults

name: 'battery_control' on_expander: True reset_pin: 15 status_pin: 13

BluetoothConfiguration dataclass

BluetoothConfiguration(
    *,
    name: str = "bluetooth",
    pin_code: int | None | Literal["default"] = "default"
)

Configuration for the Lizard Bluetooth module.

Defaults

name: 'bluetooth' pin_code: 'default'

BmsConfiguration dataclass

BmsConfiguration(
    *,
    name: str = "bms",
    on_expander: bool = True,
    rx_pin: int = 26,
    tx_pin: int = 27,
    baud: int = 9600,
    num: int = 2,
    battery_low_threshold: float = 15.0
)

Configuration for the bms of the Feldfreund robot.

Defaults

name: 'bms' on_expander: True rx_pin: 26 tx_pin: 27 baud: 9600 num: 2 battery_low_threshold: 15.0

BumperConfiguration dataclass

BumperConfiguration(
    *,
    pin_front_top: int | None,
    pin_front_bottom: int | None,
    pin_back: int | None,
    name: str = "bumper",
    on_expander: bool = True
)

Configuration for the bumper of the Feldfreund robot.

Defaults

name: 'bumper' on_expander: True

CameraConfiguration dataclass

CameraConfiguration(
    *,
    main: CameraSlotConfig | list[CameraSlotConfig] | None,
    front: CameraSlotConfig | None,
    back: CameraSlotConfig | None,
    left: CameraSlotConfig | None = None,
    right: CameraSlotConfig | None = None
)

Container of named camera slots for a Feldfreund robot.

main may be a single CameraSlotConfig or a list of them. The list form configures multiple main cameras; CameraProvider.main then refers to the first, while CameraProvider.mains exposes all of them.

Defaults

left: None right: None

CameraSlotConfig dataclass

CameraSlotConfig(
    *,
    camera_id: str,
    fps: int = 10,
    rotation: ImageRotation = ImageRotation.NONE,
    crop: Rectangle | None = None,
    calibration: Calibration | None = None,
    image_size: ImageSize | None = None,
    auto_connect: bool = True
)

Base configuration shared by all camera types.

width and height are derived properties: they come from calibration.intrinsics.size when a calibration is provided, otherwise from image_size. At least one of the two must be set.

rotation and crop are only applied for display purposes and do not affect the actual captured images.

auto_connect set to False keeps the camera disconnected until the connection is requested explicitly, for example with the switch in the camera developer UI.

Defaults

fps: 10 rotation: ImageRotation.NONE crop: None calibration: None image_size: None auto_connect: True

CanConfiguration dataclass

CanConfiguration(
    *,
    name: str = "can",
    on_expander: bool = False,
    rx_pin: int = 32,
    tx_pin: int = 33,
    baud: int = 1000000
)

Configuration for the can of the Feldfreund robot.

Defaults

name: 'can' on_expander: False rx_pin: 32 tx_pin: 33 baud: 1_000_000

EstopConfiguration dataclass

EstopConfiguration(
    *,
    name: str = "estop",
    pin_front: int = 34,
    pin_back: int = 35
)

Configuration for the estop of the Feldfreund robot.

Defaults

name: 'estop' pin_front: 34 pin_back: 35

FeldfreundConfiguration dataclass

FeldfreundConfiguration(
    *,
    robot_id: str,
    robot_footprint: RobotFootprint = RobotFootprint(),
    battery_control: BatteryControlConfiguration = BatteryControlConfiguration(),
    bluetooth: BluetoothConfiguration = BluetoothConfiguration(),
    bms: BmsConfiguration = BmsConfiguration(),
    bumper: BumperConfiguration | None = None,
    can: CanConfiguration = CanConfiguration(),
    cameras: CameraConfiguration | None = None,
    driver: DriveParameters = create_drive_parameters(),
    estop: EstopConfiguration = EstopConfiguration(),
    flashlight: (
        FlashlightConfiguration
        | FlashlightMosfetConfiguration
        | None
    ) = None,
    gnss: GnssConfiguration | None = None,
    headlights: HeadlightsConfiguration | None = None,
    implement: ImplementConfiguration | None = None,
    imu: ImuConfiguration | None = None,
    robot_brain: RobotBrainConfiguration,
    wheels: TracksConfiguration
)

Main configuration for a Feldfreund robot combining all module configurations.

FlashlightConfiguration dataclass

FlashlightConfiguration(
    *,
    name: str = "flashlight",
    on_expander: bool = True,
    front_pin: int = 12,
    back_pin: int = 23,
    ledc_timer: int = 0,
    front_ledc_channel: int = 0,
    back_ledc_channel: int = 1,
    duty_cycle: float = 1.0
)

Configuration for the flashlight of the Feldfreund robot.

The LEDC channels must not collide with other PwmOutputs on the same chip.

Defaults

name: 'flashlight' on_expander: True front_pin: 12 back_pin: 23 ledc_timer: 0 front_ledc_channel: 0 back_ledc_channel: 1 duty_cycle: 1.0

FlashlightMosfetConfiguration dataclass

FlashlightMosfetConfiguration(
    *,
    name: str = "flashlight_mosfet",
    on_expander: bool = True,
    pin: int = 2
)

Configuration for the mosfet based flashlight of the Feldfreund robot.

Deprecated: only used on U4. Not built into any new robot; do not extend.

Defaults

name: str = 'flashlight_mosfet' on_expander: True pin: 2

GnssConfiguration dataclass

GnssConfiguration(
    *,
    x: float = 0.041,
    y: float = -0.255,
    z: float = 0.6225,
    yaw: float = 0.0
)

Configuration for the GNSS of the Feldfreund robot.

X, Y, Z are the position of the main GNSS antenna. The yaw is the direction to the auxiliary antenna. It should be 90°, but the offset is configured in the Septentrio software.

Defaults

x: 0.041 y: -0.255 z: 0.6225 yaw: 0.0

HeadlightsConfiguration dataclass

HeadlightsConfiguration(
    *,
    name: str = "headlights",
    on_expander: bool = False,
    left_pin: int = 5,
    right_pin: int = 4,
    ledc_timer: int = 1,
    left_ledc_channel: int = 2,
    right_ledc_channel: int = 3,
    left_duty_cycle: float = 1.0,
    right_duty_cycle: float = 1.0
)

Configuration for the headlights of the Feldfreund robot that are controlled via pwm.

Defaults

name: 'headlights' on_expander: False left_pin: 5 right_pin: 4 ledc_timer: 1 left_ledc_channel: 2 right_ledc_channel: 3 left_duty_cycle: 1.0 right_duty_cycle: 1.0

ImplementConfiguration dataclass

ImplementConfiguration(
    *,
    lizard_name: str,
    display_name: str,
    offset: Pose3d = Pose3d.zero(),
    work_radius: float
)

Base configuration for all implements.

Defaults

offset: Pose3d.zero

ImuConfiguration dataclass

ImuConfiguration(
    *,
    name: str = "imu",
    offset_rotation: Rotation = Rotation.zero(),
    min_gyro_calibration: float = 1.0
)

Configuration for the IMU of the Feldfreund robot.

Defaults

name: 'imu' offset_rotation: Rotation.zero min_gyro_calibration: 1.0

MjpegCameraConfig dataclass

MjpegCameraConfig(
    *,
    camera_id: str,
    fps: int = 10,
    rotation: ImageRotation = ImageRotation.NONE,
    crop: Rectangle | None = None,
    calibration: Calibration | None = None,
    image_size: ImageSize | None = None,
    auto_connect: bool = True,
    ip: str = "192.168.42.3",
    username: str = "root",
    password: str
)

Bases: CameraSlotConfig

Configuration for an MJPEG camera.

The password can be added to the .env file as MJPEG_CAMERA_PASSWORD and then used with secrets.py.

Defaults

ip: '192.168.42.3' username: 'root'

ODriveTracksConfiguration dataclass

ODriveTracksConfiguration(
    *,
    name: str = "wheels",
    is_left_reversed: bool = False,
    is_right_reversed: bool = False,
    width: float = 0.502,
    left_back_can_address: int = 0,
    right_back_can_address: int = 256,
    left_front_can_address: int = 512,
    right_front_can_address: int = 768,
    odrive_version: int = 4,
    tooth_count: int = 15,
    pitch: float = 0.033,
    motor_gear_ratio: float = 12.52,
    has_temperature_sensor: bool = False
)

Bases: TracksConfiguration

Configuration for ODrive-based tracks with four motors (front/back, left/right).

Defaults

left_back_can_address: 0x000 right_back_can_address: 0x100 left_front_can_address: 0x200 right_front_can_address: 0x300 odrive_version: 4 tooth_count: 15 pitch: 0.033 motor_gear_ratio: 12.52 has_temperature_sensor: False

RobotBrainConfiguration dataclass

RobotBrainConfiguration(
    *,
    name: str,
    enable_esp_on_startup: bool = False,
    nand: bool = False,
    swap_pins: bool = False,
    heartbeat_interval: float = 0.5,
    supported_lizard_versions: str | None = None
)

Configuration for the robot brain of the Feldfreund robot.

There are different versions of the Robot Brain's electronics. Make sure to configure the correct parameters for your Robot Brain.

Also have a look the documentation of the espresso.py script. https://github.com/zauberzeug/lizard/blob/main/espresso.py

Defaults

enable_esp_on_startup: False nand: False swap_pins: False heartbeat_interval: 0.5 supported_lizard_versions: None

supported_lizard_versions is a PEP 440 version specifier like '<0.14.0' restricting which Lizard versions can be downloaded and flashed. None allows all versions.

RobotFootprint dataclass

RobotFootprint(
    *,
    front: float = 0.5295,
    rear: float = 0.343,
    left: float = 0.33274,
    right: float = 0.33274
)

Physical extent of the robot as distances from the center of motion.

The center of motion is not necessarily the geometric center of the robot frame. Each value represents the distance from the center of motion to that edge.

Defaults

front: 0.5295 rear: 0.343 left: 0.33274 right: 0.33274

corners_at_pose

corners_at_pose(pose: Pose) -> list[Point]

Return the 4 footprint corners at the given pose, rotated by the pose's yaw.

Order: front-left, front-right, rear-right, rear-left.

RtspCameraConfig dataclass

RtspCameraConfig(
    *,
    camera_id: str,
    fps: int = 10,
    rotation: ImageRotation = ImageRotation.NONE,
    crop: Rectangle | None = None,
    calibration: Calibration | None = None,
    image_size: ImageSize | None = None,
    auto_connect: bool = True,
    mac: str,
    ip: str,
    codec: Literal["h264", "h265"] = "h265",
    substream: int = 0
)

Bases: CameraSlotConfig

Configuration for an RTSP camera.

Defaults

codec: 'h265' substream: 0

TracksConfiguration dataclass

TracksConfiguration(
    *,
    name: str = "wheels",
    is_left_reversed: bool = False,
    is_right_reversed: bool = False,
    width: float = 0.502
)

Base configuration for Feldfreund tracks.

Defaults

name: 'wheels' is_left_reversed: False is_right_reversed: False width: 0.502

UsbCameraConfig dataclass

UsbCameraConfig(
    *,
    camera_id: str,
    fps: int = 10,
    rotation: ImageRotation = ImageRotation.NONE,
    crop: Rectangle | None = None,
    calibration: Calibration | None = None,
    image_size: ImageSize | None = None,
    auto_connect: bool = True,
    auto_exposure: bool = True
)

Bases: CameraSlotConfig

Configuration for a USB camera.

Defaults

auto_exposure: True