# Tire & Encoder Parameters
# Default: 8 inches wheel
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# Tire 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 0.09735
computation_right_wheel_radius: 0.09794 # meter 0.1015

# Encoder CPR(counts per revolution)
cpr: 16385
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# Distance between tires
wheels_base_width: 0.608 # meter 0.5668
# Motor automatically stops if no topics are received for a certain period of time
callback_timeout: 0.5 # seconds
# Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations
# 0.01 or 0.001 is highly recommended
decimil_coefficient: 0.001

# Time to reach target position
set_accel_time_left: 1000 # ms
set_accel_time_right: 1000 # ms
set_decel_time_left: 1000 # ms
set_decel_time_right: 1000 # ms

# 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