driver
(
  name 				"romaa"
	plugin 			"libromaa"
	provides 		[ "position2d:0" ]
	port				"/dev/ttyUSB0"
	baudrate 		115200
	motorpid 		[ 1300.0 5000.0 1.0 ]
	vwpid 			[ 0.0 25.0 0.0 ]
	todometry 	50
	tloop 			20
)

# 1 m/sec max linear velocity
# 30 deg/sec max angular velocity
# Axis 1 is X
# Axis 2 is Yaw
# Y is not used here
driver
(
  name        "linuxjoystick"
  provides    [ "joystick:0" ]
  requires    [ "position2d:0" ]
  max_speed   [1 0 30]
  axes        [1 -1 2]
  port        "/dev/input/js0"
  alwayson    1
)