conf.json

{
    "runningTime" : 120,
    "testSpeed": 7,
    "logfile": "/media/usb_avc/log",
    "gps": {
        "port": "/dev/ttyUSB0",
        "baud": 38400,
        "min_overlap_dist": 0.0001
    },
    "compass": {
        "port": "/dev/arduino_compass",
        "baud": 9600,
        "declination_deg": -7.08,
    	"bias": {
    		"x": -74.5,
    		"y": 71.6
    	},
    	"scalar":{
    		"x": 0.92979,
    		"y": 1.08167
    	}
    },
    "pathfinding":{
         "camera": {
            "flip": 0,
            "index": 0,
            "scale": 0.75,
            "skip_frames": 7,
            "calc": {
                "unit_cm": 20.32,
                "y_dist": {
                    "x3": 0.00000783980771164,
                    "x2": -0.000858228828,
                    "x1": 0.0450598749517,
                    "x0": -0.0707498035249
                },
                "x_dist": {
                    "x1": -1.40438917801,
                    "x0": 226.956720467
                }
            },
            "cam": {
                "camera_matrix": {
                    "00": 506.371355212,
                    "02": 238.185604175,
                    "11": 506.654337383,
                    "12": 160.394659293
                },
                "distortion_coeffs": {
                    "0": -0.0721300536788,
                    "1": -0.00412365788553,
                    "2": -0.00324746399481,
                    "3": 0.00410104432022,
                    "4": 0.179577322153
                }
            },
            "blue":{
                "lower":{
                    "hue": 97,
                    "saturation": 35,
                    "value": 35
                },
                "upper":{
                    "hue": 110,
                    "saturation": 255,
                    "value": 255
                }
            },
            "red":{
                "lower":{
                    "hue": 0,
                    "saturation": 50,
                    "value": 47
                },
                "upper":{
                    "hue": 6,
                    "saturation": 255,
                    "value": 255
                }
            },
            "green":{
                "lower":{
                    "hue": 35,
                    "saturation": 35,
                    "value": 35
                },
                "upper":{
                    "hue": 87,
                    "saturation": 255,
                    "value": 255
                }
            },
            "yellow":{
                "lower":{
                    "hue": 10,
                    "saturation": 30,
                    "value": 30
                },
                "upper":{
                    "hue": 19,
                    "saturation": 255,
                    "value": 255
                }
            }
        }
    },
    "logger_dispatch":{
        "port":"/dev/arduino_logger",
        "baud": 9600
    },
    "nodelist": {
        "file":"/home/umkc/2015-2016-AVC/nodes"
    },
    "motorcontroller": {
        "port": "/dev/arduino_motorcontroller",
        "baud": 57600,
        "turn_deadzone": 2,
        "gillens_equation":{
            "gillens_limit": 16000,
            "turn_coefficient": 1.0
        }
    },
    "start_waiter": {
        "port": "/dev/arduino_logger",
        "baud": 9600
    }
}