# Pololu jrk settings file.
# https://www.pololu.com/docs/0J73
product: 21v3
input_mode: serial
input_error_minimum: 0
input_error_maximum: 4095
input_minimum: 0
input_maximum: 4095
input_neutral_minimum: 2048
input_neutral_maximum: 2048
output_minimum: 0
output_neutral: 2048
output_maximum: 4095
input_invert: false
input_scaling_degree: linear
input_detect_disconnect: false
input_analog_samples_exponent: 7
feedback_mode: frequency
feedback_error_minimum: 1498
feedback_error_maximum: 2600
feedback_minimum: 1498
feedback_maximum: 2598
feedback_invert: false
feedback_detect_disconnect: false
feedback_dead_zone: 0
feedback_analog_samples_exponent: 7
feedback_wraparound: false
serial_mode: uart
serial_baud_rate: 9600
serial_timeout: 0
serial_device_number: 255
never_sleep: true
serial_enable_crc: false
serial_enable_14bit_device_number: true
serial_disable_compact_protocol: false
proportional_multiplier: 105
proportional_exponent: 8
integral_multiplier: 983
integral_exponent: 13
derivative_multiplier: 819
derivative_exponent: 13
pid_period: 100
integral_divider_exponent: 0
integral_limit: 1000
reset_integral: true
pwm_frequency: 5
current_samples_exponent: 7
current_offset_calibration: 0
current_scale_calibration: 0
motor_invert: false
max_duty_cycle_while_feedback_out_of_range: 1
max_acceleration_forward: 600
max_acceleration_reverse: 600
max_deceleration_forward: 600
max_deceleration_reverse: 600
max_duty_cycle_forward: 600
max_duty_cycle_reverse: 0
brake_duration_forward: 0
brake_duration_reverse: 0
soft_current_limit_forward: 0
soft_current_limit_reverse: 0
soft_current_regulation_level_forward: 0
soft_current_regulation_level_reverse: 0
coast_when_off: false
error_enable: 0
error_latch: 0
error_hard: 0
vin_calibration: 0
disable_i2c_pullups: false
analog_sda_pullup: false
always_analog_sda: false
always_analog_fba: false
fbt_method: counting
fbt_timing_clock: 3m
fbt_timing_polarity: true
fbt_timing_timeout: 100
fbt_samples: 5
fbt_divider_exponent: 0