114 lines
2.3 KiB
YAML
114 lines
2.3 KiB
YAML
apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar
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data:
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# Broker configuration
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MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
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MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
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# Camera
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MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
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MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
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# Radio command
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MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
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MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
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MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
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MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
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MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering
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# Values to apply
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MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
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MQTT_TOPIC_STEERING: car/satanas/part/steering
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# Road detection
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MQTT_TOPIC_ROAD: car/satanas/part/road
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# Records topic
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MQTT_TOPIC_RECORDS: car/satanas/part/records
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-throttle
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data:
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############
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# Throttle #
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############
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THROTTLE_MIN: "0.25"
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THROTTLE_MAX: "0.4"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-steering-pwm
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data:
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################
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# STEERING PWM #
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################
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STEERING_LEFT_PWM: "1002"
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STEERING_RIGHT_PWM: "1985"
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STEERING_CENTER_PWM: "1491"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-throttle-pwm
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data:
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################
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# THROTTLE PWM #
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################
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#THROTTLE_MIN_PWM: "1092"
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#THROTTLE_MAX_PWM: "1986"
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#THROTTLE_ZERO_PWM: "1583"
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THROTTLE_MIN_PWM: "967"
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THROTTLE_MAX_PWM: "1966"
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THROTTLE_ZERO_PWM: "1460"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-camera
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data:
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##########
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# Camera #
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##########
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2CAMERA_WIDTH: "160"
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2CAMERA_HEIGHT: "128"
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CAMERA_WIDTH: "160"
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CAMERA_HEIGHT: "120"
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MQTT_CAMERA_PUB_FREQUENCY: "30"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-models
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data:
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# model to use for steering
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#MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
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MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
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MODEL_STEERING5: model_160x120h0_edgetpu.tflite
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MODEL_STEERING3: model_edgetpu.tflite
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MODEL_STEERING4: model_160x120h20_edgetpu.tflite
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MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
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MODEL_IMAGE_WIDTH: "160"
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MODEL_IMAGE_HEIGHT: "120"
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HORIZON: "20"
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---
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apiVersion: v1
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kind: ConfigMap
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metadata:
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name: robocar-road
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data:
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HORIZON: "20"
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