Settings

A class settings has been implemented. It is based on yaml which is a standard data serialization format for all programming languages. It allows to do simple configuration file and to load it through PyYaml. The file is composed of pair <key>:<value>. When the file is loaded, a dictionary is created.

There are three setting files. These files store information concerning the arduino board and the actuators.

• Arduino settings

{baudrate: 9600 , port: /dev/ttyACM0}

In this file the port and the baudrate to communicate with arduino are specified.

• Motor settings

{baudRate: 1000000 , port: /dev/ttyUSB0, motorConfig: [[7,0,180,"bowl"],[4,160,245,"mid"],[6,105,155,"bottom"],[5,75,190,"top"],[16,125,175,"head"]]}

Here the baudrate and the port are also stored. In addition to that, there are one tupple for each actuator. This tupple is composed of the actuator id, the minimun angle, the maximun angle and the actuator name.