| { |
| "cameras": [ |
| { |
| "calibration": {% include 'y2023/constants/test_data/calibration_pi-1.json' %} |
| }, |
| { |
| "calibration": {% include 'y2023/constants/test_data/calibration_pi-2.json' %} |
| }, |
| { |
| "calibration": {% include 'y2023/constants/test_data/calibration_pi-3.json' %} |
| }, |
| { |
| "calibration": {% include 'y2023/constants/test_data/calibration_pi-4.json' %} |
| } |
| ], |
| "target_map": {% include 'y2023/constants/test_data/target_map.json' %}, |
| "scoring_map": {% include 'y2023/constants/test_data/scoring_map.json' %}, |
| "robot": { |
| "tof": { |
| "interpolation_table": [ |
| { |
| "tof_reading": 0.1, |
| "lateral_position": 0.2 |
| }, |
| { |
| "tof_reading": 0.90, |
| "lateral_position": -0.2 |
| } |
| ] |
| }, |
| "wrist_zero": { |
| {% include 'y2023/constants/wrist_common_zeroing.json' %}, |
| "measured_absolute_position": 0.0 |
| } |
| }, |
| "wrist": { |
| "zeroing_voltage": 3.0, |
| "operating_voltage": 12.0, |
| "zeroing_profile_params": { |
| "max_velocity": 0.5, |
| "max_acceleration": 3.0 |
| }, |
| "default_profile_params":{ |
| "max_velocity": 0.5, |
| "max_acceleration": 5.0 |
| }, |
| {# The range is currently duplicated from the constants.h; try to fix this. #} |
| "range": { |
| "lower_hard": -0.10, |
| "upper_hard": 4.90, |
| "lower": 0.0, |
| "upper": 4.0 |
| }, |
| "loop": {% include 'y2023/control_loops/superstructure/wrist/integral_wrist_plant.json' %} |
| }, |
| "ignore_targets": { |
| "red": [4], |
| "blue": [5] |
| } |
| } |