# Wheel & Encoder Parameters
# Default: 8 inches wheel
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# Wheel radius
left_wheel_radius: 0.0974 # meter 0.1015
right_wheel_radius: 0.0974 # meter 0.1015
# For odometry computation
computation_left_wheel_radius: 0.09806 # meter 0.1015
computation_right_wheel_radius: 0.09794 # meter 0.1015
# Encoder CPR(counts per revolution)
cpr: 16385
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# Distance between Wheels
wheels_base_width: 0.608 # meter 0.5668
# Motor automatically stops if no topics are received for a certain period of time
callback_timeout: 1.0 # seconds

# Time to reach target position
set_accel_time_left: 600 #500 #1000 # ms 200
set_accel_time_right: 600 #500 #1000 # ms 200
set_decel_time_left: 400 #300 #1000 # ms 200
set_decel_time_right: 400 #300 #1000 # ms 200

# Maximum rpm
max_left_rpm: 150
max_right_rpm: 150
# Width of rpm to be regarded as 0
# If 3, then -3 to 3 is considered rpm 0
deadband_rpm: 3