# Pololu jrk settings file.
# https://www.pololu.com/docs/0J73
product: 21v3
input_mode: serial
input_error_minimum: 750
input_error_maximum: 2852
input_minimum: 1368
input_maximum: 2837
input_neutral_minimum: 2215
input_neutral_maximum: 2290
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: analog
feedback_error_minimum: 1790
feedback_error_maximum: 3910
feedback_minimum: 3600
feedback_maximum: 3720
feedback_invert: false
feedback_detect_disconnect: true
feedback_dead_zone: 0
feedback_analog_samples_exponent: 7
feedback_wraparound: false
serial_mode: usb_dual_port
serial_baud_rate: 9600
serial_timeout: 0
serial_device_number: 11
never_sleep: false
serial_enable_crc: false
serial_enable_14bit_device_number: false
serial_disable_compact_protocol: false
proportional_multiplier: 1
proportional_exponent: 1
integral_multiplier: 0
integral_exponent: 0
derivative_multiplier: 0
derivative_exponent: 0
pid_period: 10
integral_divider_exponent: 0
integral_limit: 1000
reset_integral: false
pwm_frequency: 20
current_samples_exponent: 7
current_offset_calibration: 0
current_scale_calibration: 0
motor_invert: true
max_duty_cycle_while_feedback_out_of_range: 600
max_acceleration_forward: 50
max_acceleration_reverse: 50
max_deceleration_forward: 600
max_deceleration_reverse: 600
max_duty_cycle_forward: 500
max_duty_cycle_reverse: 500
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: 34
error_latch: 34
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: 1m5
fbt_timing_polarity: false
fbt_timing_timeout: 100
fbt_samples: 1
fbt_divider_exponent: 0