/usr/share/player/config/amtecM5.cfg is in robot-player 3.0.2+dfsg-4.1ubuntu3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | # Desc: Example configuration for the amtecM5 driver (using the official Powercube driver)
# Author: Alexis Maldonado
# Notes: connstring is explained in the AMTEC documentation. RS232 for serial port. ESD for CAN
driver
(
name "amtecM5"
provides ["actarray:0"]
#if set to 1, lots of debugging information will be printed
debug_level 0
#connstring as defined by the AMTEC documentation
connstring "ESD:0,1000"
#If these many modules are not detected, the server will exit
module_count 7
#These are the IDs of the powercubes, assigned to actuator 0,1,2,3,...
module_ids "1,2,3,4,5,6,7"
#If directions is -1, the direction of rotation for that module is inverted
directions "1,1,1,1,-1,-1,1"
#The position that player will see is the reported by the module plus this offset
offsets "0,0,0,0,0,-1.5717,0"
#If set to 1, the values for the position commands are limited to -Pi - +Pi
normalize_angles "1,1,1,1,1,1,0"
#samplingrate and alarmtime control how fast the loop runs (in mS)
samplingrate 19.998
alarmtime 22.0
#highpriority=1 tells the kernel's scheduler to give high priority to this process
highpriority 1
)
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