TranquilFirmware/RobotConfig.example.json at main · aepkolol/TranquilFirmware · GitHub

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{
  "robotConfig": {
    "robotType": "TranquilSmall",
    "cmdsAtStart": "",
    "webui": "cnc",
    "evaluators": {
      "thrContinue": 0,
      "thrThetaMirrored": 1,
      "thrThetaOffsetAngle": 0.5
    },
    "robotGeom": {
      "model": "SandBotRotary",
      "motionController": {
        "chip": "TMC2209",
        "TX1": 32,
        "TX2": 33,
        "driver_TOFF": 4,
        "run_current": 600,
        "microsteps": 16,
        "stealthChop": 1
      },
      "homing": {
        "homingSeq": "FR3;A+38400n;B+3200;#;A+38400N;B+3200;#;A+200;#B+400;#;B+30000n;#;B-30000N;#;B-340;#;A=h;B=h;$",
        "maxHomingSecs": 120
      },
      "blockDistanceMM": 1,
      "allowOutOfBounds": 0,
      "stepEnablePin": "25",
      "stepEnLev": 0,
      "stepDisableSecs": 30,
      "axis0": {
        "maxSpeed": 15,
        "maxAcc": 25,
        "maxRPM": 4,
        "stepsPerRot": 38400,
        "stepPin": "19",
        "dirnPin": "21",
        "dirnRev": "1",
        "endStop0": { "sensePin": "22", "actLvl": 0, "inputType": "INPUT" }
      },
      "axis1": {
        "maxSpeed": 15,
        "maxAcc": 25,
        "maxRPM": 30,
        "stepsPerRot": 3200,
        "unitsPerRot": 40.5,
        "maxVal": 145,
        "stepPin": "27",
        "dirnRev": "1",
        "dirnPin": "3",
        "endStop0": { "sensePin": "23", "actLvl": 0, "inputType": "INPUT" }
      }
    },
    "fileManager": {
      "spiffsEnabled": 1,
      "spiffsFormatIfCorrupt": 1,
      "sdEnabled": 1,
      "sdLanes": 1
    },
    "ledStrip": {
      "ledRGBW": 1,
      "ledCount": "143",
      "tslEnabled": "1",
      "tslSDA": "16",
      "tslSCL": "17"
    }
  },
  "cmdSched": { "jobs": [] },
  "name": "Tranquil"
}