Hardware constants

Hardware constants shared by the SDK and any presentation layer.

class omnitiles.hardware.ActuatorConfig(name, stroke_mm, buffer_bottom_mm, buffer_top_mm)[source]

Bases: object

Physical configuration for a linear actuator.

Parameters:

name (str)
stroke_mm (float)
buffer_bottom_mm (float)
buffer_top_mm (float)

name: str

stroke_mm: float

buffer_bottom_mm: float

buffer_top_mm: float

property min_position_mm: float

property max_position_mm: float

omnitiles.hardware.DEFAULT_ANCHOR_POSITIONS: tuple[tuple[float, float], ...] = ((0.0, 0.0), (1.778, 0.0), (-0.508, 1.7018), (3.0861, 1.7018)): Default UWB anchor coordinates in meters. Override per test-setup.

omnitiles.hardware.load_anchor_positions(path)[source]

Load UWB anchor positions from a TOML file.

The file must contain a top-level positions array of [x, y] pairs in meters, ordered by CONFIG_ANCHOR_ID. If the file does not exist, returns DEFAULT_ANCHOR_POSITIONS.

Parameters:: path (str | Path)
Return type:: tuple[tuple[float, float], ...]

omnitiles.hardware.ADC_MAX = 4095: Maximum 12-bit ADC reading used for raw→mm conversion.