| aPPRK Configuration File | Index |
The aPPRK Shared Library was written to be flexible and allow other operating systems and controllers usable with the PPRK. In addition, library resolves problems with different I/O numbering schemes and interpretations of which motor is the "front" motor or which ranger has index 0.
The "aPPRK.config" configuration file for the aPPRK shared library needs to be in the following place:
Configuration Settings
The configuration file contains single key=value for each configuration setting. These settings are loaded when the library is initialized. The following keys are currently defined:
| key | description | default |
|---|---|---|
| controller | This setting determines which controller is connected to the computer. It can be one of the following: - BrainStem - SV203 | SV203 |
| baudrate | The baud rate the computer will use to communicate with the controller. | 9600 |
| portname | The name of the port to be used to communicate with the controller. This setting is operating system specific and is detailed here. | serial |
| servo_neutral_0 servo_neutral_1 servo_neutral_2 | This is an offset that allows you to adjust what is considered neutral (absolute position = 0.0). This setting is a float value from -1.0 to 1.0. | 0.0 |
| servo_index_0 servo_index_1 servo_index_2 | This is an index that allows you to remap which servo is which. This setting is an integer value from 0 to the number of servo outputs on the current controller. | 0, 1, 2 |
| ranger_index_0 ranger_index_1 ranger_index_2 | This is an index that allows you to remap which ranger is which. This setting is an integer value from 0 to the number of A/D inputs on the current controller. | 0, 1, 2 |
| module | This is the IIC address of the module used for communication when the controller is set to BrainStem. This setting is ignored for other controller types. | 2 |
Example Configuration File
Here is an example file. Notice the comment line. Any line that starts with a "#" character is ignored.
The case sensitivity of this file matters. Be sure to capitalize the file correctly. Also, there should be no extension on this file, even if your operating system is trying to "help" you by hiding the extension. |