robot.toml

# Gloamy Robot Configuration
# Copy this file to ~/.gloamy/robot.toml and then trim it to match your hardware.
# The defaults below favor mock mode and conservative limits so you can test the
# software path before enabling real motors or live sensors.

# =============================================================================
# DRIVE SYSTEM
# =============================================================================
[drive]
# Backend used by DriveTool today:
# - "mock"   for safe dry runs and tests
# - "serial" for an Arduino or motor controller that accepts text commands
# - "ros2"   for ROS2 cmd_vel publishing through the `ros2` CLI
# - "gpio"   is reserved for direct board control and is not wired in yet
backend = "mock"

# ROS2 settings (if backend = "ros2")
ros2_topic = "/cmd_vel"

# Serial settings (if backend = "serial")
# For Arduino/motor controller
serial_port = "/dev/ttyACM0"

# Speed limits (m/s and rad/s)
max_speed = 0.5
max_rotation = 1.0

# =============================================================================
# CAMERA / VISION
# =============================================================================
[camera]
# Camera device
# - "/dev/video0" for USB camera
# - "picam" for Raspberry Pi Camera Module
device = "/dev/video0"

# Capture resolution (lower is faster on a Pi)
width = 640
height = 480

# Vision model name served by Ollama for describing what the robot sees
# - "moondream" (small, fast, good for Pi)
# - "llava" (larger, more accurate)
# - "none" (disable vision description)
vision_model = "moondream"

# Ollama URL for vision processing
ollama_url = "http://localhost:11434"

# =============================================================================
# AUDIO (SPEECH)
# =============================================================================
[audio]
# ALSA device names (use `arecord -l` and `aplay -l` to inspect your system)
mic_device = "default"
speaker_device = "default"

# Whisper model for speech-to-text
# - "tiny" (fastest, least accurate)
# - "base" (good balance for Pi)
# - "small" (better accuracy, slower)
whisper_model = "base"

# Path to the whisper.cpp executable
whisper_path = "/usr/local/bin/whisper-cpp"

# Piper TTS executable and voice name
piper_path = "/usr/local/bin/piper"
piper_voice = "en_US-lessac-medium"

# =============================================================================
# SENSORS
# =============================================================================
[sensors]
# LIDAR connection
# - "/dev/ttyUSB0" is typical for RPLidar on Linux
lidar_port = "/dev/ttyUSB0"

# Scan source used by SenseTool today:
# - "mock"    for testing without hardware
# - "rplidar" through an external `rplidar_scan` helper
# - "ros2"    through `ros2 topic echo --once /scan`
lidar_type = "mock"

# PIR motion sensor GPIO pins (BCM numbering)
motion_pins = [17, 27]

# HC-SR04 ultrasonic sensor pins as [trigger, echo]
# Set to null to disable the ultrasonic helper path
ultrasonic_pins = [23, 24]

# =============================================================================
# SAFETY LIMITS (CRITICAL - READ CAREFULLY!)
# =============================================================================
[safety]

# --- OBSTACLE AVOIDANCE ---

# Absolute minimum obstacle distance (meters)
# Robot will NOT move if anything is closer than this
# 0.3m (30cm) is good for indoor use
min_obstacle_distance = 0.3

# Slow-down zone multiplier
# Robot starts reducing speed when obstacle is within:
#   min_obstacle_distance × slow_zone_multiplier
# With defaults: starts slowing at 0.3 × 3.0 = 0.9m (90cm)
slow_zone_multiplier = 3.0

# Maximum speed when approaching obstacles (0.0 - 1.0)
# In slow-down zone, speed is limited to this fraction
# 0.3 = 30% of max_speed when near walls/obstacles
approach_speed_limit = 0.3

# --- COLLISION RESPONSE ---

# Bump sensor GPIO pins (BCM numbering)
# Wire microswitches on front/sides of chassis
# Triggers immediate stop + reverse on contact
bump_sensor_pins = [5, 6]

# Distance to reverse after bump (meters)
# Robot backs up this far after hitting something
bump_reverse_distance = 0.15

# Enable trajectory prediction when your deployment provides the data for it
predict_collisions = true

# --- WATCHDOG / FAILSAFE ---

# Maximum continuous drive time (seconds)
# Auto-stop if no new commands for this duration
# Prevents runaway if LLM hangs or connection lost
max_drive_duration = 30

# Sensor data timeout (seconds)
# Block ALL movement if no sensor updates for this long
# Prevents blind movement if sensors fail
sensor_timeout_secs = 5

# Speed limit to use when your deployment chooses to allow degraded movement
# without full sensor confidence
blind_mode_speed_limit = 0.2

# --- EMERGENCY STOP ---

# E-stop GPIO pin (BCM numbering)
# Wire a BIG RED BUTTON here
# Directly pulling LOW triggers immediate stop
# HIGHLY RECOMMENDED for any robot around kids!
estop_pin = 4

# --- USER INTERACTION ---

# Require verbal confirmation before movement
# If true: robot asks "Should I move forward?" before each move
# Set true for extra safety with young kids
# Set false for responsive gameplay with older kids
confirm_movement = false