Pilot Configuration

We use scripts/configs.json to configure the BearCar's driving experience for both human and non-human pilots.

steering_joy_axis

Default Value: 0

Pilot Modes: teleop

Index number of the joystick axis on gamepad for steering BearCar.

throttle_joy_axis

Default Value: 4

Pilot Modes: teleop

Index number of the joystick axis on gamepad for propelling BearCar.

record_btn

Default Value: 5

Pilot Modes: teleop

Index number of the gamepad button for activate/deactivate data recording.

pause_btn

Default Value: 4

Pilot Modes: teleop, autopilot

Index number of the gamepad button for pause/resume driving.

stop_btn

Default Value: 0

Pilot Modes: teleop, autopilot

Index number of the gamepad button for emergency stop (terminates program).

steering_left

Deprecated

steering_right

Deprecated

steering_center

Default Value: 15000000

Pilot Modes: teleop, autopilot

Pulse width for centering the steering servo (unit: nanosecond).

steering_range

Default Value: 300000

Pilot Modes: teleop, autopilot

Max pulse width increment/decrement from steering center.

throttle_neutral

Default Value: 15000000

Pilot Modes: teleop, autopilot

Pulse width for 0 throttle (unit: nanosecond).

throttle_fwd_range

Default Value: 3000000

Pilot Modes: teleop, autopilot

Max pulse width increment throttle from neutral to drive BearCar forward.

throttle_rev_range

Default Value: 4000000

Pilot Modes: teleop, autopilot

Max pulse width decrement throttle from neutral to drive BearCar backward.

throttle_limit

Default Value: 0.35

Pilot Modes: teleop, autopilot

From 0 (stop) to 1 (full throttle). Speed cap for BearCar.

frame_rate

Default Value: 24

Pilot Modes: teleop, autopilot

Camera frames per second

record_cap

Default Value: 15000

Pilot Modes: teleop

Max number of data collection