# Any line that starts with a # is a comment.
# Servo names: L11 L12 ... L33 R11 ... R32 R33
# Pin names: P0 ... Pn on the (P)rimary board
# Pin names: S0 ... Sn on the (S)econdary board

# Servo pins and servo calibration values
#
# Format: [Servo name] [Pin name] [-45 usec] [+45 usec]
L11 P15 1995 980
L12 P16 1960 945
L13 P17 2020 1040
L21 P09 2005 1005
L22 P10 1965 970
L23 P11 2005 1010
L31 P03 2020 1060
L32 P04 2050 1065
L33 P05 1945 970
R11 P12 1930 920
R12 P13 2040 1060
R13 P14 2010 1015
R21 P06 1990 1010
R22 P07 1930 945
R23 P08 2040 1050
R31 P00 2020 1050
R32 P01 2045 1080
R33 P02 1970 960

# Touch sensor pins
# Removing a sensor definition will disable that sensor.
#
# Format: [Touch sensor name] [Pin name] [High Active: 0 or 1]
TS_L1 P23 1
TS_L2 P21 1
TS_L3 P19 1
TS_R1 P22 1
TS_R2 P20 1
TS_R3 P18 1

# Voltage and Current sensor pins and calibration values
# Removing a sensor definition will disable that sensor.
#
# Format: [Sensor name] [Pin name] [Pin voltage to read 0] [Pin voltage to read 1]
CUR P24 2.5 2.444
VOL P25 0.0 0.2

# Voltage and Current warning and shut off levels.
# The levels are upper limits for current, and lower limits for voltage readings.
# Warning/Shut off will get triggered if the reading stays in the specified level for more than
# "Activation duration" seconds.
#
# Format: [Sensor name] [Activation duration] [Warning level] [Shut off level] [Beep count]
WARN_CUR 2 5 7 3
WARN_VOL 2 5.4 5 3

# Relay switch for the main servo power
# Remove this line if you do not have a relay.
#
# Format: [Output] [Pin name] [High Active: 0 or 1]
RELAY P26 1

# The placement of the legs and animation settings
#
# Format: [Mode name] [Leg radius] [Corner leg angle] [Elongation] [Body Lift]
#         [Step lift] [Vertical touch sensors correction] [Speed factor] [Animation factor]
MODE_STANDARD  190 55 1.15  40 30  10 0.7 1.0
MODE_RACE      190 55 1.20  35 20   0 1.0 0.0
MODE_OFFROAD   210 55 1.15  60 60 120 0.6 1.0
MODE_CUSTOM    190 55 1.15  40 40  10 1.0 1.0
MODE_QUADRUPED 210 60 1.00  45 30   0 0.7 1.0
MODE_BLOCK     185 30 1.07 -40 80   0 1.0 1.0

# Length of leg segments in millimeters
COXA_LEN 43
FEMUR_LEN 60
TIBIA_LEN 104

# Distance between the coxa rotation centers of different legs in millimeters.
L1_TO_R1 126
L1_TO_L3 167
L2_TO_R2 163

# The height where the legs connect to the frame.
LEG_CONNECTION_Z -7
# The Z value for the leg endpoints when sitting on a flat surface.
LEG_SITTING_Z -40

# The angle between the servo itself and the leg segment when the servo is centered.
COXA_ATTACH_ANGLE -8
FEMUR_ATTACH_ANGLE 35
TIBIA_ATTACH_ANGLE 83
















# this is intentional.