From fbf0b4ef0f2a04e0edba1a235b75a20f740247f1 Mon Sep 17 00:00:00 2001
From: Arend-Jan van Hilten <a.j.vanhilten@tudelft.nl>
Date: Wed, 24 Apr 2024 09:41:38 +0000
Subject: [PATCH] fix pull en percentage

---
 .../config/mirte_master_config_goede_arm.yaml   | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/mirte_telemetrix/config/mirte_master_config_goede_arm.yaml b/mirte_telemetrix/config/mirte_master_config_goede_arm.yaml
index 63320a1a..02023b97 100644
--- a/mirte_telemetrix/config/mirte_master_config_goede_arm.yaml
+++ b/mirte_telemetrix/config/mirte_master_config_goede_arm.yaml
@@ -39,21 +39,27 @@ modules:
       servoShoulder:
         id: 3
         home_out: 11450
-        min_angle_out: 11450
+        min_angle_out: 2832
         max_angle_out: 20000
         invert: true
       servoElbow:
         id: 4
         home_out: 11750
-        min_angle_out: 3000
+        min_angle_out: 120
         max_angle_out: 21000
         invert: false
       servoWrist:
         id: 5
         home_out: 12200
-        min_angle_out: 3000
+        min_angle_out: 1128
         max_angle_out: 21000
         invert: true
+      servoGripper:
+        id: 6
+        home_out: 10524
+        min_angle_out: 6168
+        max_angle_out: 11224
+        invert: true
   power_watcher:
     device: mirte
     type: INA226
@@ -66,6 +72,11 @@ modules:
     turn_off_value: True
     turn_off_time: 10
     power_low_time: 20
+    switch_pull: 1 # -1 for pulldown, 1 for pullup, 0 for none
+    switch_time: 5
+    percentage_led_chip: gpiochip4
+    percentage_led_line: 12 # B4, left-most led on usb switcher pcb
+
   movement:
     type: MPU9250
     connector: I2C1