Hardware Wizard

The hardware wizard is an interactive prompt that lets you describe your robot’s physical hardware. It saves everything to raccoon.project.yml.

Running the Wizard

From inside your project directory:

raccoon wizard

The wizard walks you through each section one question at a time.

[PICTURE: Terminal showing the raccoon wizard prompt with a drivetrain type question]

What the Wizard Configures

Drivetrain Type

Choose between:

  • differential — Two driven wheels (one on each side). The robot turns by driving wheels at different speeds.
  • mecanum — Four mecanum wheels. The robot can also move sideways (strafe) in addition to forward/back and turning.

Motor Ports

For each drive motor, you specify:

  • Port number — The physical port number on the Wombat (0–3) that the motor is plugged into.
  • Is it inverted? — If the motor spins the wrong direction (robot moves backward when it should go forward), mark it as inverted. You can also determine this by watching the robot and re-running the wizard.

[PICTURE: Wombat controller with numbered motor ports labeled]

Robot Dimensions

  • Wheel diameter in millimetres — used to convert encoder ticks to real-world distance.
  • Track width (distance between left and right wheels) in millimetres — used for accurate turning.

For mecanum robots, the wizard also asks for the wheelbase (front-to-back wheel distance).

Sensors

The wizard asks which analog and digital sensors are connected and to which ports. Each sensor type has its own configuration questions.

Changing Configuration Later

You can re-run raccoon wizard at any time to update any setting. After changing anything, run raccoon codegen to regenerate the hardware files so the changes take effect.

You can also directly edit raccoon.project.yml in a text editor for quick changes like port numbers.

← Managing Projects Code Generation →