Configuration

A single YAML file controls all driver settings:

src/studica_control/config/params.yaml

info

Every component defaults to enabled: false. The driver only starts components you explicitly enable, keeping resource usage minimal.

Multi-Instance Support

These components each support named instances running simultaneously:

Component	YAML key
Cobra	cobra
DutyCycleEncoder	duty_cycle
DIO	dio
Encoder	encoder
Servo	servo
Sharp	sharp
Titan	titan
Ultrasonic	ultrasonic

Add each instance to a sensors array and configure it by name:

ultrasonic:
  enabled: true
  sensors: ["front_sonar", "rear_sonar"]
  front_sonar:
    ping: 8
    echo: 9
    frame_id: "front_sonar_link"
  rear_sonar:
    ping: 10
    echo: 11
    frame_id: "rear_sonar_link"

Topics auto-generate from each instance name — e.g. /front_sonar/range and /rear_sonar/range.

Full Example

A complete params.yaml for a typical differential drive robot:

control_server:
  ros__parameters:
    titan:
      enabled: true
      sensors: ["drive", "arm"]
      drive:
        can_id: 42
        motor_freq: 15600
        m_0:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
        m_1:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
        m_2:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
        m_3:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
      arm:
        can_id: 43
        motor_freq: 15600
        m_0:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
        m_1:
          encoder_mode: "absolute"
        m_2:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601
        m_3:
          encoder_mode: "quadrature"
          dist_per_tick: 0.0006830601

    imu:
      enabled: true
      name: "imu"
      topic: "imu"
      frame_id: "imu_link"

    ultrasonic:
      enabled: true
      sensors: ["front_sonar"]
      front_sonar:
        ping: 8
        echo: 9
        frame_id: "front_sonar_link"

    servo:
      enabled: true
      sensors: ["gripper", "wrist", "elbow"]
      gripper:
        port: 14
        type: "standard"
      wrist:
        port: 15
        type: "continuous"
      elbow:
        port: 16
        type: "linear"

    power:
      battery_count: 1

VMX Channel Reference

Channel Type	Index Range	Used By
DIO	0 – 21	Encoder (A/B), DIO, Ultrasonic (ping/echo)
PWM	0 – 21	Servo
Analog Input	22 – 25	Sharp
Duty Cycle	0, 2, 4, 6, 8, 10	DutyCycleEncoder