Regarding the modification of the config.ini file

Question

I would like to ask what modifications I need to make to the exoskeleton's config.ini code file if I only configure the left hip motor for the exoskeleton?

For the scenario where only the left hip motor of the exoskeleton is configured, according to the guidelines in the wiki documentation, the modifications I have currently made in config.ini are as follows:

;Board information;
ALL FIELDS SHOULD BE LESS THAN 25 CHAR
[Board];

NEEDS TO BE SET IN "Config.h" PRIOR TO FLASHING TO TEENSY & NANO;
Select one of the available board names (see list in Config.h);
Define the board version in "BOARD_VERSION" slot immediately after the list

[Exo]
name = leftHip

[Battery]
;DEPRECATED. Describes the type of battery used, values: smart(inspired energy), dumb (simple lipo)
name = dumb

[test];
Sides - left, right, bilateral
sides = left

I want to confirm whether my modifications are correct? In addition, do I need to make any other changes besides modifying the config.ini file when only the left hip motor of the exoskeleton is configured?

Looking forward to your reply sincerely!

Shanpu Fang · Answer

@wuyang

In ParseIni.h, lines 360 - 382, we predefined the exoskeleton types that might be used.

To use a left-hip exoskeleton, I suggest either defining your device as a bilateral hip exoskeleton and using only the left side, or defining it directly as a left-hip exoskeleton. Attached is an example showing the first approach.

Screenshot-2025-12-10-150233.png