robot_config.json

{
    "Encoder_Left": [22, 25],
    "Encoder_Right": [23, 24],
    "L298N_PINS": {
        "BACKWARD": 5,
        "FORWARD": 12
    },
    "HALL_EFFECT_PIN": 16,
    "STOP_SWITCH": 4,
    "TIMING_SWITCH": 18,
    "P": 0.034,
    "I": 0,
    "D": 0.034,
    "MAINTAIN_SPEED_PID": {
        "P": 2.0,
        "I": 0.025,
        "D": 1.8
    },
    "LED_CONFIG": {
        "red": 6,
        "green": 13,
        "blue": 26
    },
    "LED_COLOR_COMBOS": {
        "red": {
            "red": 100,
            "green": 0,
            "blue": 0
        },
        "green": {
            "red": 0,
            "green": 100,
            "blue": 0
        },
        "blue": {
            "red": 0,
            "green": 0,
            "blue": 100
        },
        "purple": {
            "red": 100,
            "green": 0,
            "blue": 100
        },
        "cyan": {
            "red": 0,
            "green": 100,
            "blue": 100
        },
        "white": {
            "red": 100,
            "green": 100,
            "blue": 100
        },
        "yellow": {
            "red": 100,
            "green": 100,
            "blue": 0
        }
    },
    "CROPPING": {
        "do": true,
        "left": 0,
        "right": 0,
        "top": 0.4
    },
    "INTERSECTION_TIMINGS": {
        "M": 0.0009,
        "B": 0.13,
        "turning_timing": 0.65
    },
    "NUM_OF_INTERSECTIONS": 1,
    "intersection_turns": ["RIGHT"],
    "ONE_BALL_UNLOADING": 1,
    "MANY_BALL_UNLOADING": 25,
    "GRAYSCALE_THRESHOLD": 70,
    "BASE_SPEED": 0.5,
    "INTERSECTION_PORTION": 0.5,
    "debug": true
}