Activate rollover protection only when moving and default to max pwm

[ros_wild_thumper.git] / config / wt_node.cfg

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 3b97339ec3b01acab196210e9f0655c39102c2f2..4217be78f627ec8d2044adb4c2b2002293a47e53 100755 (executable)
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -8,5 +8,8 @@ gen.add("range_sensor_clip",    bool_t,         0, "Clip range sensor values to max range"
 gen.add("range_sensor_max",    double_t,       0, "Range sensor max range", 0.5, 0.4, 4)
 gen.add("odom_covar_xy",       double_t,       0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
 gen.add("odom_covar_angle",    double_t,       0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
+gen.add("rollover_protect",    bool_t,         0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t,     0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm",        double_t,       0, "Pitch rollover protection speed (pwm)", 255, 0, 255)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))