# Pololu jrk settings file. # https://www.pololu.com/docs/0J73 product: 21v3 input_mode: serial input_error_minimum: 0 input_error_maximum: 4095 input_minimum: 0 input_maximum: 4095 input_neutral_minimum: 2048 input_neutral_maximum: 2048 output_minimum: 0 output_neutral: 2048 output_maximum: 4095 input_invert: false input_scaling_degree: linear input_detect_disconnect: false input_analog_samples_exponent: 7 feedback_mode: analog feedback_error_minimum: 142 feedback_error_maximum: 4030 feedback_minimum: 284 feedback_maximum: 3965 feedback_invert: false feedback_detect_disconnect: false feedback_dead_zone: 3 feedback_analog_samples_exponent: 10 feedback_wraparound: false serial_mode: usb_dual_port serial_baud_rate: 9600 serial_timeout: 0 serial_device_number: 11 never_sleep: false serial_enable_crc: false serial_enable_14bit_device_number: false serial_disable_compact_protocol: false proportional_multiplier: 10 proportional_exponent: 0 integral_multiplier: 819 integral_exponent: 13 derivative_multiplier: 7 derivative_exponent: 0 pid_period: 30 integral_divider_exponent: 0 integral_limit: 6000 reset_integral: true pwm_frequency: 20 current_samples_exponent: 7 hard_overcurrent_threshold: 1 current_offset_calibration: 0 current_scale_calibration: 0 motor_invert: true max_duty_cycle_while_feedback_out_of_range: 600 max_acceleration_forward: 600 max_acceleration_reverse: 600 max_deceleration_forward: 600 max_deceleration_reverse: 600 max_duty_cycle_forward: 600 max_duty_cycle_reverse: 600 brake_duration_forward: 0 brake_duration_reverse: 0 soft_current_limit_forward: 0 soft_current_limit_reverse: 0 coast_when_off: false error_enable: 0 error_latch: 0 error_hard: 0 vin_calibration: 0 disable_i2c_pullups: false analog_sda_pullup: false always_analog_sda: false always_analog_fba: false fbt_method: counting fbt_timing_clock: 1m5 fbt_timing_polarity: false fbt_timing_timeout: 100 fbt_samples: 1 fbt_divider_exponent: 0