night_config.toml

control_board_path = "/dev/ttyACM0"
control_board_backup_path = "/dev/ttyACM4"
meb_path = "/dev/ttyACM2"
front_cam_path = "/dev/video0"
bottom_cam_path = "/dev/video1"
color_profile = "Night Testing"
shark = "Left"
saw_fish = "Right"

[missions.gate]
depth = -1.0
speed = 1.0
true_count = 4
false_count = 1
side = "Right"

[missions.path_align]
depth = -1.0
speed = -0.0
forward_speed = 0.2
detections = 8

[missions.slalom]
depth = -0.75
speed = 0.4
start_detections = 5
end_detections = 10
side = "Right"
centered_threshold = 0.0
dumb_strafe_secs = 1
init_duration = 4.0
strafe_duration = 2.0
traversal_duration = 6.0
yaw_adjustment = 20.0
yaw_speed = -0.2
area_bounds = { start = 630.0, end = 11000.0 }
correction_factor = -0.4


[missions.coinflip]
depth = -1.15
angle_correction = 0.2
true_count = 2

[missions.octagon]

[missions.bin]
depth = -1.0
speed = 0.3

[sonar]
serial_port = "/dev/ttyUSB0"
serial_baud_rate = 115200
bootloader = "Skip"
[sonar.auto_transmit]
mode = 1
gain_setting = "Low"
transmit_duration = 80
sample_period = 500
transmit_frequency = 750
number_of_samples = 1024
start_angle = 0
stop_angle = 399
num_steps = 1
delay = 0

[color_profiles."Night Testing".red]
start = { y = 107, u = 92, v = 100 }
end = { y = 167, u = 160, v = 128 }

[color_profiles."Night Testing".orange]
start = { y = 73, u = 87, v = 137 }
end = { y = 189, u = 136, v = 222 }

[color_profiles."Night Testing".purple]
start = { y = 0, u = 131, v = 117 }
end = { y = 139, u = 255, v = 255 }

[color_profiles."Night Testing".yellow]
start = { y = 0, u = 0, v = 111 }
end = { y = 144, u = 114, v = 255 }

[color_profiles."B2 Day".red]
start = { y = 77, u = 101, v = 113 }
end = { y = 200, u = 170, v = 210 }

[color_profiles."B2 Day".orange]
start = { y = 111, u = 55, v = 134 }
end = { y = 255, u = 112, v = 194 }

[color_profiles."B2 Day".purple]
start = { y = 0, u = 131, v = 117 }
end = { y = 139, u = 255, v = 255 }

[color_profiles."B2 Day".yellow]
start = { y = 0, u = 0, v = 111 }
end = { y = 144, u = 114, v = 255 }