# Distances are in mm (XY) or degress (Theta), times are Durations, speeds are in axis units/sec.

Controller/configurationName = BOT

# How often to check for the completion of a long-running operation such as a move.
Controller/completionCheckInterval = PT0.100S
# The timeout to use for simple actions that don't cause motion. Note that
# the reading of a single parameter or bit takes a millisec or two over
# a local Ethernet.
Controller/briefActionTimeout = PT0.010S
# The interval between periodic status updates.
Controller/statusUpdateInterval = PT1.000S
# The IP address of the motor controller.
Controller/IPv4Address = 192.168.10.40

# Speed limit imposed by software on moves.
Controller/XAxis/maxSpeed = 20.0
# An upper limit on the distance covered by any single move or homing operation.
# Used with maxSpeed to calculate timeouts.
Controller/XAxis/maxTravel = 800.0

Controller/YAxis/maxSpeed = 20.0
Controller/YAxis/maxTravel = 800.0

# See the remarks in the Groovy file.
#Controller/ThetaAxis/maxSpeed = 10.0
#Controller/ThetaAxis/maxTravel = 360.0

# Keyence parameters.
Controller/keyenceCommPort = /dev/ttyS0
Controller/keyenceBaud = 38400

# Device-chat parameters.
# How long to wait for a reply to a command.
Controller/chatTimeout = PT5M

# Light-source application parameters.
# Camera X coordinate (mm) when BOT X axis is at 0.
Controller/xcam0 = 405.0
# Camera Y (mm) when BOT Y is at 0.
Controller/ycam0 = 400.0
# Rotation angle (rad) of BOT axes w.r.t. camera axes.
Controller/phi = 3.141592653589793
