# Rotary cartpole (Furuta pendulum) — real hardware config.
# Describes the physical device for the SerialRunner.
# Robot-specific constants that don't belong in the runner config
# (which is machine-specific: port, baud) or the env config
# (which is task-specific: rewards, max_steps).

encoder:
  ppr: 11              # pulses per revolution (before quadrature)
  gear_ratio: 30.0     # gearbox ratio
  # counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320

safety:
  max_motor_angle_deg: 90.0   # hard termination limit (0 = disabled)
  soft_limit_deg: 40.0        # progressive penalty ramp starts here

reset:
  drive_speed: 80       # PWM magnitude for bang-bang drive-to-center
  deadband: 15           # encoder count threshold to consider "centered"
  drive_timeout: 3.0     # seconds before giving up on drive-to-center
  settle_angle_deg: 2.0  # pendulum angle threshold for "still" (degrees)
  settle_vel_dps: 5.0    # pendulum velocity threshold (deg/s)
  settle_duration: 0.5   # how long pendulum must stay still (seconds)
  settle_timeout: 30.0   # give up waiting after this (seconds)