# Connection
port = "COM4"
baudrate = 38400

esp32_ip = "192.168.188.32"
esp32_port = 3323

timeout = 2.0

sim: bool = True
arduinoConnection: bool = False
urdf_path = "JackBotUrdf.urdf"

# row = legnumber (left 0,1,2 right 3,4,5)
# column = servo position from torso(0) to feet(2)

# Dimensions in m
#robot_height = -0.1
step_height = 0.03
step_length = 0.04
translation_gain = 1.0
rotation_gain = 2.0
# Leglength in m
# L1 = 0.068
# L2 = 0.0602
# L3 = 0.070

# standard_tickpersec = # 20 Fluessige Bewegung
standard_tickpersec:float = 25 # [ticks/s]
standard_duration:float = 0.8  # [s]
standard_tickduration:float = 1 / standard_tickpersec