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| // Centralized Robot Communication & Performance Configuration | |
| // Single source of truth for all timing and communication parameters | |
| export const ROBOT_CONFIG = { | |
| // USB Communication Settings | |
| usb: { | |
| baudRate: 1000000, | |
| servoWriteDelay: 8, // ms between servo writes (optimized from 10ms) | |
| maxRetries: 3, // max retry attempts for failed operations | |
| retryDelay: 100, // ms between retries | |
| connectionTimeout: 5000, // ms for connection timeout | |
| readTimeout: 200, // ms for individual servo reads | |
| }, | |
| // Polling & Update Frequencies | |
| polling: { | |
| uiUpdateRate: 100, // ms (10Hz) - UI state updates | |
| consumerPollingRate: 40, // ms (25Hz) - USB consumer polling (optimized from 50ms) | |
| calibrationPollingRate: 16, // ms (60Hz) - calibration polling (needs to be fast) | |
| errorBackoffRate: 200, // ms - delay after polling errors | |
| maxPollingErrors: 5, // max consecutive errors before longer backoff | |
| }, | |
| // Command Processing | |
| commands: { | |
| dedupWindow: 16, // ms - skip duplicate commands within this window | |
| maxQueueSize: 50, // max pending commands before dropping old ones | |
| batchSize: 6, // max servos to process in parallel batches | |
| }, | |
| // Remote Connection Settings | |
| remote: { | |
| reconnectDelay: 2000, // ms between reconnection attempts | |
| heartbeatInterval: 30000, // ms for connection health check | |
| messageTimeout: 5000, // ms for message response timeout | |
| }, | |
| // Calibration Settings | |
| calibration: { | |
| minRangeThreshold: 500, // minimum servo range for valid calibration | |
| progressUpdateRate: 100, // ms between progress updates | |
| finalPositionTimeout: 2000, // ms timeout for reading final positions | |
| }, | |
| // Performance Tuning | |
| performance: { | |
| jointUpdateThreshold: 0.5, // min change to trigger joint update | |
| uiUpdateThreshold: 0.1, // min change to trigger UI update | |
| maxConcurrentReads: 3, // max concurrent servo reads | |
| memoryCleanupInterval: 30000, // ms - periodic cleanup interval | |
| } | |
| } as const; | |
| // Type exports for better IntelliSense | |
| export type RobotConfig = typeof ROBOT_CONFIG; |