machine.toml Reference

[servo]

Controls flap servo angles and hardware backend selection.

Key	Type	Default	Description
open_angle	int (0–180)	10	Angle in degrees for the open (drop) position.
closed_angle	int (0–180)	83	Angle in degrees for the closed (hold) position.
backend	"pca9685" | "waveshare"	"pca9685"	Servo driver to use. "pca9685" uses the onboard I²C driver; "waveshare" uses the SC bus over USB.
port	string	auto-detected	Serial port for the Waveshare SC bus. Omit to auto-detect. Only used when backend = "waveshare".

[[servo.channels]]

Per-channel servo configuration. One entry per servo, in layer order. Only used when backend = "waveshare".

Key	Type	Default	Description
id	int | null	—	SC bus servo ID (1–253). Null skips this slot.
invert	bool	false	Flip the direction of open/closed angles for this servo.

[layers]

Bin layout — one inner array per physical layer of the tower (bottom to top), each containing bin size strings.

Key	Type	Default	Description
sections	array of arrays	—	Each element is a layer; each layer is an array of bin-pair arrays like ["medium","medium"]. Defines the physical bin topology.
servo_open_angles	table {layer_index = angle}	—	Per-layer open angle overrides. Keys are 0-based layer indices.
servo_closed_angles	table {layer_index = angle}	—	Per-layer closed angle overrides. Keys are 0-based layer indices.

[chute]

Chute stepper calibration — home pin wiring and bin layout geometry.

Key	Type	Default	Description
home_pin_channel	int	3	Digital input channel index on the distribution board where the chute endstop is wired.
first_bin_center	float (degrees)	8.25	Angular position of the first bin center after homing completes.
pillar_width_deg	float (degrees)	8.25	Angular width consumed by each divider pillar between bins.
endstop_active_high	bool	true	Set to true if the chute endstop input reads high when physically triggered.
operating_speed_microsteps_per_second	int	3000	Chute stepper top speed during normal positioning moves.

[carousel]

Carousel stepper calibration — home pin wiring.

Key	Type	Default	Description
home_pin_channel	int	2	Digital input channel index on the feeder board where the carousel home sensor is wired.
endstop_active_high	bool	false	Set to true if the carousel home sensor reads high when triggered.

[machine_setup]

Selects the overall machine topology. Changing this requires a full reset and re-home.

Key	Type	Default	Description
type	"standard_carousel" | "classification_channel" | "manual_carousel"	"standard_carousel"	"standard_carousel": full FIDA + carousel + classification path. "classification_channel": dedicated C-channel classifier. "manual_carousel": operator places parts directly into the carousel.

[stepper_bindings]

Remaps logical stepper names to physical firmware channel names when the physical wiring does not match the firmware defaults.

Key	Type	Default	Description
carousel	string (physical stepper name)	—	Override which physical stepper drives the carousel.
c_channel_1	string (physical stepper name)	—	Override which physical stepper drives C-channel 1.
c_channel_2	string (physical stepper name)	—	Override which physical stepper drives C-channel 2.
c_channel_3	string (physical stepper name)	—	Override which physical stepper drives C-channel 3.
chute	string (physical stepper name)	—	Override which physical stepper drives the distribution chute.

[stepper_direction_inverts]

Flip the logical direction of a stepper without reflashing firmware. Keys are logical stepper names (carousel, c_channel_1, c_channel_2, c_channel_3, chute).

Key	Type	Default	Description
<logical_stepper_name>	bool	false	Set to true to invert CW/CCW for that stepper. Example: carousel = true

[stepper_current_overrides.<stepper_name>]

Per-stepper TMC driver current settings. Omit to use firmware defaults. Keys are physical or canonical stepper names.

Key	Type	Default	Description
irun	int (0–31)	16	Run current register value. Higher = more torque, more heat.
ihold	int (0–31)	4	Hold current register value when the stepper is stopped.
ihold_delay	int (0–15)	8	Delay (in clock cycles) before current ramps from irun to ihold after a move ends.

[cameras]

Camera layout and device index assignments.

Key	Type	Default	Description
layout	"default" | "split_feeder"	"default"	"default": single feeder camera + classification cameras. "split_feeder": separate camera per C-channel + carousel.
feeder	int	—	OpenCV device index for the feeder camera. Used in "default" layout.
carousel	int | string (URL)	—	Device index or MJPEG URL for the carousel/classification camera.
classification_top	int | string (URL)	—	Device index or URL for the top classification camera.
classification_bottom	int | string (URL)	—	Device index or URL for the bottom classification camera.
c_channel_2	int	—	Device index for the C-channel 2 camera. Only used in "split_feeder" layout.
c_channel_3	int	—	Device index for the C-channel 3 camera. Only used in "split_feeder" layout.

[camera_capture_modes.<role>]

Per-camera capture settings. Role matches camera keys from [cameras] (e.g. feeder, carousel). Strongly recommended on Linux to force MJPG and avoid USB bandwidth exhaustion.

Key	Type	Default	Description
fourcc	string	—	Four-character code for the capture format. "MJPG" is strongly recommended on Linux multi-cam setups.
width	int	—	Capture width in pixels.
height	int	—	Capture height in pixels.
fps	int	—	Target capture frame rate.

[camera_picture_settings.<role>]

Per-camera image transform settings applied after capture.

Key	Type	Default	Description
rotation	int (0, 90, 180, 270)	0	Clockwise rotation in degrees applied to every captured frame.
flip_horizontal	bool	false	Mirror the image left-to-right.
flip_vertical	bool	false	Flip the image top-to-bottom.