core:
  mode: linuxserver
  serverip: 172.26.178.114
  clientip: 172.26.176.1
  server: Hyper-Vd
  loopspeed: 40 # fps

arm:
  ip: 192.168.1.145
  tool:
    offset_x: 0
    offset_y: 0
    offset_z: 0.14
  limbs:
    limb_base: 0.11
    limb1: 0.425
    limb2: 0.39225
    limb3: 0.1
    limb_wrist: 0.0997

cables:
  port: 7900
  directory: ./cables/ # must include trailing slash

#cable_map:
cameras:
  banner:
    ip: 192.168.1.125
    port: 32200

led: 
  fps: 90
  timeout: 1
  controllers:
    - universe: 1
      ip: 192.168.1.200
      ledstart: 0
      ledend: 143
      mode: rgb
    - universe: 2
      ip: 192.168.1.201
      ledstart: 144
      ledend: 287
      mode: rgb
    - universe: 3
      ip: 192.168.1.202
      ledstart: 288
      ledend: 431
      mode: rgb
    - universe: 4
      ip: 192.168.1.203
      ledstart: 432
      ledend: 575
      mode: rgb
    - universe: 5
      ip: 192.168.1.204
      ledstart: 576
      ledend: 719
      mode: rgb
    - universe: 6
      ip: 192.168.1.205
      ledstart: 720
      ledend: 863
      mode: rgb
    - universe: 7
      ip: 192.168.1.206
      ledstart: 864
      ledend: 1007
      mode: rgb
    - universe: 8
      ip: 192.168.1.207
      ledstart: 1008
      ledend: 1151
      mode: rgb
    - universe: 9
      ip: 192.168.1.208
      ledstart: 1152
      ledend: 1295
      mode: rgb
    # - universe: 0
    #   ip: 192.168.1.209
    #   ledstart: 1296
    #   ledend: 1365
    #   mode: rgbw
    

  map:
    # total for 54x rings: 1296 LEDs (0-1295), 24 ea
    # controller 1
    - type: circle
      start: 0
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, 304.8]
    - type: circle
      start: 24
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, 266.7]
    - type: circle
      start: 48
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, 228.6]
    - type: circle
      start: 72
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-197.973, 190.5]
    - type: circle
      start: 96
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-263.965, 152.4]
    - type: circle
      start: 120
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-263.965, 76.2]

    # controller 2
    - type: circle
      start: 144
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, 228.6]
    - type: circle
      start: 168
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, 190.5]
    - type: circle
      start: 192
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, 152.4]
    - type: circle
      start: 216
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-197.973, 114.3]
    - type: circle
      start: 240
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-197.973, 38.1]
    - type: circle
      start: 264
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-263.965, 0]

    # controller 3
    - type: circle
      start: 288
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, 152.4]
    - type: circle
      start: 312
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, 114.3]
    - type: circle
      start: 336
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, 76.2]
    - type: circle
      start: 360
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, 0]
    - type: circle
      start: 384
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-199.0, -35.0]
    - type: circle
      start: 408
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-263.965, -76.2]

    # controller 4
    - type: circle
      start: 432
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, 76.2]
    - type: circle
      start: 456
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, 152.4]
    - type: circle
      start: 480
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, 228.6]
    - type: circle
      start: 504
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, 266.7]
    - type: circle
      start: 528
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, 190.5]
    - type: circle
      start: 552
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, 114.3]
    

    # controller 5
    - type: circle
      start: 576
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, 0]
    - type: circle
      start: 600
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, 38.1]
    - type: circle
      start: 624
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, 114.3]
    - type: circle
      start: 648
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, 190.5]
    - type: circle
      start: 672
      size: 24
      diameter: 63.5
      angle: 0
      pos: [263.965, 152.4]
    - type: circle
      start: 696
      size: 24
      diameter: 63.5
      angle: 0
      pos: [263.965, 76.2]

    # controller 6
    - type: circle
      start: 720
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, -76.2]
    - type: circle
      start: 744
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, -38.1]
    - type: circle
      start: 768
      size: 24
      diameter: 63.5
      angle: 0
      pos: [263.965, 0]
    - type: circle
      start: 792
      size: 24
      diameter: 63.5
      angle: 0
      pos: [263.965, -76.2]
    - type: circle
      start: 816
      size: 24
      diameter: 63.5
      angle: 0
      pos: [263.965, -152.4]
    - type: circle
      start: 840
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, -114.3]

    # controller 7
    - type: circle
      start: 864
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, -114.3]
    - type: circle
      start: 888
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, -152.4]
    - type: circle
      start: 912
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, -114.3]
    - type: circle
      start: 936
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, -76.2]
    - type: circle
      start: 960
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-197.973, -114.3]
    - type: circle
      start: 984
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-133.0, -151.0]

    # controller 8
    - type: circle
      start: 1008
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, -228.6]
    - type: circle
      start: 1032
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, -190.5]
    - type: circle
      start: 1056
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-65.991, -266.7]
    - type: circle
      start: 1080
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-131.982, -228.6]
    - type: circle
      start: 1104
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-197.973, -190.5]
    - type: circle
      start: 1128
      size: 24
      diameter: 63.5
      angle: 0
      pos: [-263.965, -152.4]

    # controller 9
    - type: circle
      start: 1152
      size: 24
      diameter: 63.5
      angle: 0
      pos: [0, -304.8]
    - type: circle
      start: 1176
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, -266.7]
    - type: circle
      start: 1200
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, -228.6]
    - type: circle
      start: 1224
      size: 24
      diameter: 63.5
      angle: 0
      pos: [197.973, -190.5]
    - type: circle
      start: 1248
      size: 24
      diameter: 63.5
      angle: 0
      pos: [131.982, -152.4]
    - type: circle
      start: 1272
      size: 24
      diameter: 63.5
      angle: 0
      pos: [65.991, -190.5]

    # Strips
    # - type: strip
    #   start: 1296
    #   size: 70
    #   length: 600
    #   angle: 270 # down
    #   pos: [375, 300]

global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
animation_time: 200
position_map:
  - index: 0
    pos: [-152.4, 263.965]
  - index: 1
    pos: [-76.2, 263.965]
  - index: 2
    pos: [0, 263.965]
  - index: 3
    pos: [76.2, 263.965]
  - index: 4
    pos: [152.4, 263.965]
  - index: 5
    pos: [-190.5, 197.973]
  - index: 6
    pos: [-114.3, 197.973]
  - index: 7
    pos: [-38.1, 197.973]
  - index: 8
    pos: [38.1, 197.973]
  - index: 9
    pos: [114.3, 197.973]
  - index: 10
    pos: [190.5, 197.973]
  - index: 11
    pos: [-228.6, 131.982]
  - index: 12
    pos: [-152.4, 131.982]
  - index: 13
    pos: [-76.2, 131.982]
  - index: 14
    pos: [0, 131.982]
  - index: 15
    pos: [76.2, 131.982]
  - index: 16
    pos: [152.4, 131.982]
  - index: 17
    pos: [228.6, 131.982]
  - index: 18
    pos: [-266.7, 65.991]
  - index: 19
    pos: [-190.5, 65.991]
  - index: 20
    pos: [-114.3, 65.991]
  - index: 21
    pos: [114.3, 65.991]
  - index: 22
    pos: [190.5, 65.991]
  - index: 23
    pos: [266.7, 65.991]
  - index: 24
    pos: [-304.8, 0]
  - index: 25
    pos: [-228.6, 0]
  - index: 26
    pos: [-152.4, 0]
  - index: 27
    pos: [152.4, 0]
  - index: 28
    pos: [228.6, 0]
  - index: 29
    pos: [304.8, 0]
  - index: 30
    pos: [-266.7, -65.991]
  - index: 31
    pos: [-190.5, -65.991]
  - index: 32
    pos: [-114.3, -65.991]
  - index: 33
    pos: [114.3, -65.991]
  - index: 34
    pos: [190.5, -65.991]
  - index: 35
    pos: [266.7, -65.991]
  - index: 36
    pos: [-228.6, -131.982]
  - index: 37
    pos: [-151.0, -133.0]
  - index: 38
    pos: [-76.2, -131.982]
  - index: 39
    pos: [0, -131.982]
  - index: 40
    pos: [76.2, -131.982]
  - index: 41
    pos: [152.4, -131.982]
  - index: 42
    pos: [228.6, -131.982]
  - index: 43
    pos: [-190.5, -197.973]
  - index: 44
    pos: [-114.3, -197.973]
  - index: 45
    pos: [-35.0, -199.0]
  - index: 46
    pos: [38.1, -197.973]
  - index: 47
    pos: [114.3, -197.973]
  - index: 48
    pos: [190.5, -197.973]
  - index: 49
    pos: [-152.4, -263.965]
  - index: 50
    pos: [-76.2, -263.965]
  - index: 51
    pos: [0, -263.965]
  - index: 52
    pos: [76.2, -263.965]
  - index: 53
    pos: [152.4, -263.965]