JackM323
9c31de3c38
config into dataclass and enums new Gui that includes settings deleted GlobalVariables small fixes (import, names...)
47 lines
1.8 KiB
Python
47 lines
1.8 KiB
Python
"""
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config.py - Central Configuration & Parameters for JackBot
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"""
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from dataclasses import dataclass, field
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from enum import Enum
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class BackendType(Enum):
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SIMULATION = "sim"
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ESP32 = "esp32"
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ARDUINO = "arduino"
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@dataclass
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class RobotConfig:
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# -------------------------------------------------------------------------
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# 1. Execution & Backend Target
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# -------------------------------------------------------------------------
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backend: BackendType = BackendType.SIMULATION
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urdf_path: str = "JackBotUrdf.urdf"
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# Hardware Connection Settings
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port: str = "COM4" # Serial Port for Arduino
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baudrate: int = 38400 # Baudrate for Serial
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esp32_ip: str = "192.168.188.32" # Wi-Fi IP for ESP32 UDP communication
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esp32_port: int = 3323 # UDP Target Port
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comm_timeout: float = 2.0 # Connection timeout threshold [s]
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# -------------------------------------------------------------------------
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# 2. Gait & Motion Kinematics Parameters
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# -------------------------------------------------------------------------
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step_height: float = 0.05 # Clearance height of foot swing [m]
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step_length: float = 0.08 # Maximum stride distance [m]
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translation_gain: float = 1.0 # Speed multiplier for directional translation
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rotation_gain: float = 4.0 # Speed multiplier for yaw rotation
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# Timing & Execution Frequency
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tick_rate_hz: float = 25.0 # Motion loop execution rate [ticks/sec]
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step_duration: float = 0.8 # Time to complete full gait stride [s]
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@property
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def tick_duration(self) -> float:
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return 1.0 / self.tick_rate_hz
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# Global Active Instance
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cfg = RobotConfig() |