{
  "robot_id": 0,
  "name": "BluPants",
  "use_opencv": false,
  "measurement_system": "m",
  "duty": 0.5,
  "block_length": 0.5,
  "period": 0.02,
  "enable_tts": true,
  "bluetooth_addr": "",
  "ev3":
  {
    "claw":
    {
      "servo": "a",
      "angle_open":  -560,
      "angle_close": 560
    },
    "motor":
    {
      "position":
      {
        "front_left": 1,
        "front_right": 2,
        "back_left": 3,
        "back_right": 4
      },
      "duty_ratio": [1.0, 1.0, 1.0, 1.0],
      "turn_right_period": 0.014,
      "turn_left_period": 0.014
    },
    "camera":
    {
      "servo_horizontal": "c",
      "servo_vertical": "d"
    }
  },
  "alphabot":
  {
    "claw":
    {
      "servo": 1,
      "angle_open": 20.0,
      "angle_close": -20.0
    },
    "hcsr04":
    {
      "trigger": 22,
      "echo": 27,
      "vcc": "VDD_5V",
      "gnd": "DGND"
    },
    "motor":
    {
      "pinout":
      {
        "ENA": 6,
        "AIN1": 12,
        "AIN2": 13,
        "BIN1": 20,
        "BIN2": 21,
        "ENB": 26
      },
      "duty_ratio": [0.95, 1.0, 1.0, 1.0],
      "turn_right_period": 0.0025,
      "turn_left_period": 0.00275
    },
    "camera":
    {
      "servo_horizontal": 0,
      "servo_vertical": 1
    }
  },
  "raspberrypi":
  {
    "servos": [17, 27, 22],
    "claw":
    {
      "servo": 1,
      "angle_open": -60.0,
      "angle_close": 60.0
    },
    "hcsr04":
    {
      "trigger": 18,
      "echo": 24,
      "vcc": "VDD_5V",
      "gnd": "DGND"
    },
    "motor":
    {
      "pinout":
      {
        "ENA": "",
        "IN1": 7,
        "IN2": 8,
        "IN3": 9,
        "IN4": 10,
        "ENB": ""
      },
      "duty_ratio": [1.0, 1.0, 1.0, 1.0],
      "turn_right_period": 0.005,
      "turn_left_period": 0.005
    },
    "camera":
    {
      "servo_horizontal": 2,
      "servo_vertical": 3
    }
  },
  "beagleboneblack":
  {
    "servos": ["P8_13", "P9_42", "P8_19"],
    "claw":
    {
      "servo": 1,
      "angle_open": -90.0,
      "angle_close": -30.0
    },
    "hcsr04":
    {
      "trigger": "P8_12",
      "echo": "P8_11",
      "vcc": "VDD_5V",
      "gnd": "DGND"
    },
    "motor":
    {
      "pinout":
      {
        "ENA": "P9_21",
        "IN1": "P9_23",
        "IN2": "P9_27",
        "IN3": "P9_26",
        "IN4": "P9_24",
        "ENB": "P9_22"
      },
      "duty_ratio": [1.0, 1.0, 1.0, 1.0],
      "turn_right_period": 0.03,
      "turn_left_period": 0.03
    },
    "camera":
    {
      "servo_horizontal": 2,
      "servo_vertical": 3
    }
  },
  "beagleboneblue":
  {
    "claw":
    {
      "servo": 8,
      "angle_open": -45.0,
      "angle_close": 45.0
    },
    "hcsr04":
    {
      "trigger": "GPIO1_25",
      "echo": "P9_23",
      "vcc": "GP0_3v3",
      "gnd": "GP0_GND"
    },
    "motor":
    {
      "position":
      {
        "front_left": 1,
        "front_right": 2,
        "back_left": 3,
        "back_right": 4
      },
      "duty_ratio": [1.0, 1.0, 1.0, 1.0],
      "turn_right_period": 0.005,
      "turn_left_period": 0.005
    },
    "camera":
    {
      "servo_horizontal": 1,
      "servo_vertical": 2
    },
    "servo":
    {
      "init_angle": [0, 0, 0, 15, -90, 90, 0, 0]
    }
  },
  "EduMIP":
  {
    "block_length": 0.28,
    "turn_coefficient": 0.0175,
    "meter_coefficient": 14,
    "servo_shoulder_left": 7,
    "servo_shoulder_right": 6,
    "claw":
    {
      "angle_open": 45.0,
      "angle_close": 30.0
    }
  }
}