Actuator Configuration

The actuator-level configuration (see Configuration Levels is read using the data I/O interface. Configuration of sensors and motors listed is loaded recursively (as in Sensor Configuration and Motor Configuration)

Any configuration path must be provided without file extension, and relative to /config/actuators/

The possible configuration fields and their values are here exemplified for the case of current JSON file I/O implementation (optional parameters are presented with default values and marked with '[o]' in their description):

{
  "sensors": [                        // List of sensors available for configured actuator
    { 
      "variable": "POSITION",           // Dimension measured by sensor (POSITION, VELOCITY, FORCE or ACCELERATION)
      "config": "<sensor_1_id>",        // Sensor string identifier, used for searching its configuration file
      "deviation": 1.0                  // [o] Measurement error (standard deviation) associated with the sensor
    },
    { 
      "input_variable": "FORCE",
      "config": "<sensor_2_id>"          
    }, ...
  ],
  "motor": {                          // Actuation motor used on configured actuator
    "variable": "VELOCITY",             // Controlled dimension/variable (POSITION, VELOCITY, FORCE or ACCELERATION)
    "config": "<motor_identifier>",     // Motor string identifier (configuration file path) or inline configuration object 
    "limit": -1.0                       // [o] Absolute maximum allowed for control motor setpoint/output
  },
  "log": {                            // [o] Set logging of measurement and setpoint numeric data over time
    "to_file": false,                   // [o] Save data logging to <log_dir>/[<user_name>-]<actuator_name>-<time_stamp>.log, to log file 
                                        //     Default value will set terminal logging
    "precision": 3                      // [o] Decimal precision for logged numeric values
  }
}