`_config`

Module Contents

Classes

The configuration for running a physical robot.

class Config

The configuration for running a physical robot.

modular_robot: revolve2.modular_robot.ModularRobot: The Modular Robot Object.

hinge_mapping: dict[modular_robot_physical._uuid_key.UUIDKey[revolve2.modular_robot.body.base.ActiveHinge], int]: Hinge mapping: map each active hinge object to a specific Servo with its ID (int).

initial_hinge_positions: dict[modular_robot_physical._uuid_key.UUIDKey[revolve2.modular_robot.body.base.ActiveHinge], float]: Initial positions of the active hinges.

run_duration: int: Duration to run the brain for in seconds.

control_frequency: int: Frequency at which to call the brain control functions in seconds. There currently is a bug where if you set the control frequency to (around) 10 or smaller the program might hang. This is most likely a big in pycapnp and once pycapnp v2 is released this is probably resolved.

inverse_servos: dict[int, bool]: If a servo is mounted in the wrong direction on the body one can fix it by inverting the action. inverse_servos allows you to inverse specific servos with their gpio number as key.