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config.json
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{
"opcodes": {
"baud": 129,
"play": 141,
"full": 132,
"led": 139,
"stream": 148,
"digit_led_raw": 163,
"drive_direct": 145,
"stop": 173,
"scheduling_led": 162,
"safe": 131,
"motors": 138,
"drive": 137,
"pause_resume_stream": 150,
"song": 140,
"sensors": 142,
"reset": 7,
"power": 133,
"set_day_time": 168,
"schedule": 167,
"motors_pwm": 144,
"buttons": 165,
"start": 128,
"drive_pwm": 146,
"query_list": 149,
"clean": 135,
"max": 136,
"spot": 134,
"seek_dock": 143,
"digit_led_ascii": 164
},
"charging states": [
"not-charging",
"charging-recovery",
"charging",
"trickle-charging",
"waiting",
"charging-error"
],
"sensor data": {
"wheel overcurrents": {
"right wheel": false,
"left wheel": false,
"main brush": false,
"side brush": false
},
"infared char omni": 0,
"voltage": 0,
"requested velocity": 0,
"battery charge": 0,
"light bump center right signal": 0,
"song playing": false,
"left motor current": 0,
"dirt detect": 0,
"buttons": {
"dock": false,
"clean": false,
"hour": false,
"clock": false,
"schedule": false,
"spot": false,
"day": false,
"minute": false
},
"requested left velocity": 0,
"wheel drop and bumps": {
"bump right": false,
"drop left": false,
"drop right": false,
"bump left": false
},
"number of stream packets": 0,
"song number": 0,
"oi mode": 0,
"stasis": false,
"right encoder counts": 0,
"cliff front right signal": 0,
"main brush motor current": 0,
"cliff left": false,
"virtual wall": false,
"light bump front right signal": 0,
"distance": 0,
"light bump right signal": 0,
"light bump front left signal": 0,
"cliff right": false,
"left encoder counts": 0,
"right motor current": 0,
"infared char left": 0,
"cliff front right": false,
"cliff right signal": 0,
"light bump left signal": 0,
"cliff front left signal": 0,
"charging state": 0,
"side brush motor current": 0,
"requested radius": 0,
"current": 0,
"light bumper": {
"right": false,
"center right": false,
"front left": false,
"center left": false,
"front right": false,
"left": false
},
"requested right velocity": 0,
"angle": 0,
"cliff front left": false,
"temperature": 0,
"wall seen": false,
"battery capacity": 0,
"cliff left signal": 0,
"light bump center left signal": 0,
"charging sources available": {
"home base": false,
"internal charger": false
},
"wall signal": 0,
"infared char right": 0
},
"remote opcodes": {
"0": "none",
"129": "left",
"130": "forward",
"131": "right",
"132": "spot",
"133": "max",
"134": "small",
"135": "medium",
"136": "clean",
"137": "pause",
"138": "power",
"139": "arc-left",
"140": "arc-right",
"141": "drive-stop",
"142": "send-all",
"143": "seek-dock",
"160": "reserved",
"161": "force-field",
"162": "virtual-wall",
"164": "green-buoy",
"165": "green-buoy-and-force-field",
"168": "red-buoy",
"169": "red-buoy-and-force-field",
"172": "red-buoy-and-green-buoy",
"173": "red-buoy-and-green-buoy-and-force-field",
"240": "reserved",
"242": "force-field",
"244": "green-buoy",
"246": "green-buoy-and-force-field",
"248": "red-buoy",
"250": "red-buoy-and-force-field",
"252": "red-buoy-and-green-buoy",
"254": "red-buoy-and-green-buoy-and-force-field",
"255": "none"
},
"sensor group packet lengths": {
"0": 26,
"1": 10,
"2": 6,
"3": 10,
"4": 14,
"5": 12,
"6": 52,
"7": 1,
"8": 1,
"9": 1,
"10": 1,
"11": 1,
"12": 1,
"13": 1,
"14": 1,
"15": 1,
"16": 1,
"17": 1,
"18": 1,
"19": 2,
"20": 2,
"21": 1,
"22": 2,
"23": 2,
"24": 1,
"25": 2,
"26": 2,
"27": 2,
"28": 2,
"29": 2,
"30": 2,
"31": 2,
"32": 1,
"33": 1,
"34": 1,
"35": 1,
"36": 1,
"37": 1,
"38": 1,
"39": 2,
"40": 2,
"41": 2,
"42": 2,
"43": 2,
"44": 2,
"45": 1,
"46": 2,
"47": 2,
"48": 2,
"49": 2,
"50": 2,
"51": 2,
"52": 1,
"53": 1,
"54": 2,
"55": 2,
"56": 2,
"57": 2,
"58": 1,
"100": 80,
"101": 28,
"102": 12,
"103": 9
},
"oi modes": [
"off",
"passive",
"safe",
"full"
],
"ascii table": {
" ": 32,
"\"": 34,
"&": 38,
",": 44,
".": 46,
"0": 48,
"2": 50,
"4": 52,
"6": 54,
"8": 56,
":": 58,
"<": 60,
">": 62,
"B": 66,
"D": 68,
"F": 70,
"H": 72,
"J": 74,
"L": 76,
"N": 78,
"P": 80,
"R": 82,
"T": 84,
"V": 86,
"X": 88,
"Z": 90,
"\\": 92,
"^": 94,
"`": 96,
"|": 124,
"~": 126,
"!": 33,
"#": 35,
"%": 37,
"'": 39,
"-": 45,
"/": 47,
"1": 49,
"3": 51,
"5": 53,
"7": 55,
"9": 57,
";": 59,
"=": 61,
"?": 63,
"A": 65,
"C": 67,
"E": 69,
"G": 71,
"I": 73,
"K": 75,
"M": 77,
"O": 79,
"Q": 81,
"S": 83,
"U": 85,
"W": 87,
"Y": 89,
"[": 40,
"]": 41,
"_": 95,
"{": 123,
"}": 125
},
"midi table": {
"rest": 0,
"G#1": 32,
"G#3": 56,
"G#2": 44,
"G#5": 80,
"G#4": 68,
"G#7": 104,
"G#6": 92,
"G#8": 116,
"G7": 103,
"G6": 91,
"G5": 79,
"G4": 67,
"G3": 55,
"G2": 43,
"G1": 31,
"G9": 127,
"G8": 115,
"A7": 105,
"D#9": 123,
"A8": 117,
"B4": 71,
"B5": 83,
"B6": 95,
"B7": 107,
"B1": 35,
"B2": 47,
"B3": 59,
"B8": 119,
"F#2": 42,
"F#3": 54,
"F#4": 66,
"F#5": 78,
"F#6": 90,
"F#7": 102,
"F#8": 114,
"F#9": 126,
"E9": 124,
"E8": 112,
"E5": 76,
"E4": 64,
"E7": 100,
"E6": 88,
"E3": 52,
"E2": 40,
"A#3": 58,
"A#2": 46,
"A#1": 34,
"pause": 0,
"A#7": 106,
"A#6": 94,
"A#5": 82,
"A#4": 70,
"A#8": 118,
"C9": 120,
"C8": 108,
"C3": 48,
"C2": 36,
"C7": 96,
"C6": 84,
"C5": 72,
"C4": 60,
"R": 0,
"F2": 41,
"F3": 53,
"F4": 65,
"F5": 77,
"F6": 89,
"F7": 101,
"F8": 113,
"F9": 125,
"A1": 33,
"A3": 57,
"A2": 45,
"A5": 81,
"A4": 69,
"D#8": 111,
"A6": 93,
"D#6": 87,
"D#7": 99,
"D#4": 63,
"D#5": 75,
"D#2": 39,
"D#3": 51,
"C#9": 121,
"C#8": 109,
"C#5": 73,
"C#4": 61,
"C#7": 97,
"C#6": 85,
"C#3": 49,
"C#2": 37,
"D8": 110,
"D9": 122,
"D6": 86,
"D7": 98,
"D4": 62,
"D5": 74,
"D2": 38,
"D3": 50
}
}