port: /dev/ttyUSB0
# 1 same as status from arduino (glitchy!). 4 = every 4 statuses etc
command_rate: 8

# Joystick deadzone
dead_zone: 0.1
# Used to scale the joystick axis
max_pwm_yaw: 50
max_pwm_pitch: 50
max_pwm_lid: 120
# The joints
yaw:
    pwm_limit: 50
    pos_center_raw: 900
    pos_max: 63 # scaled
    pos_min: -55 # scaled
    p: 0.2
    i: 0
    d: 1.0
pitch:
    pwm_limit: 100
    pos_center_raw: 450
    pos_max: 500
    pos_min: -200
    p: 0.6
    i: 0.0
    d: 0.0
lid:
    pwm_limit: 35
    pos_center_raw: 484
    pos_max: 101
    pos_min: -101
    p: 0.1

port: /dev/ttyUSB0
# 1 same as status from arduino (glitchy!). 4 = every 4 statuses etc
command_rate: 1

# Joystick deadzone
dead_zone: 0.1
# Used to scale the joystick axis
max_pwm_yaw: 50
max_pwm_pitch: 50
max_pwm_lid: 120
# The joints
yaw:
    pwm_limit: 50
    pos_center_raw: 900
    pos_max: 63 # scaled
    pos_min: -55 # scaled
    p: 0.2
    i: 0
    d: 1.0
pitch:
    pwm_limit: 100
    pos_center_raw: 450
    pos_max: 500
    pos_min: -200
    p: 0.6
    i: 0.0
    d: 0.0
lid:
    pwm_limit: 35
    pos_center_raw: 484
    pos_max: 101
    pos_min: -101
    p: 0.1

Send at same rate as status.
Send at same rate as status.
