/**
 * SO-100 specific hardware configuration
 */
import type { RobotHardwareConfig } from "../types/robot-config.js";
/**
 * STS3215 Protocol Configuration for SO-100 devices
 */
export declare const WEB_STS3215_PROTOCOL: {
    readonly resolution: 4096;
    readonly homingOffsetAddress: 31;
    readonly homingOffsetLength: 2;
    readonly presentPositionAddress: 56;
    readonly presentPositionLength: 2;
    readonly minPositionLimitAddress: 9;
    readonly minPositionLimitLength: 2;
    readonly maxPositionLimitAddress: 11;
    readonly maxPositionLimitLength: 2;
    readonly signMagnitudeBit: 11;
};
/**
 * SO-100 Device Configuration
 * Motor names, IDs, and drive modes for both follower and leader
 */
export declare const SO100_CONFIG: {
    motorNames: string[];
    motorIds: number[];
    driveModes: number[];
};
/**
 * SO-100 Keyboard Controls for Teleoperation
 * Robot-specific mapping optimized for SO-100 joint layout
 */
export declare const SO100_KEYBOARD_CONTROLS: {
    readonly ArrowUp: {
        readonly motor: "shoulder_lift";
        readonly direction: 1;
        readonly description: "Shoulder up";
    };
    readonly ArrowDown: {
        readonly motor: "shoulder_lift";
        readonly direction: -1;
        readonly description: "Shoulder down";
    };
    readonly ArrowLeft: {
        readonly motor: "shoulder_pan";
        readonly direction: -1;
        readonly description: "Shoulder left";
    };
    readonly ArrowRight: {
        readonly motor: "shoulder_pan";
        readonly direction: 1;
        readonly description: "Shoulder right";
    };
    readonly w: {
        readonly motor: "elbow_flex";
        readonly direction: 1;
        readonly description: "Elbow flex";
    };
    readonly s: {
        readonly motor: "elbow_flex";
        readonly direction: -1;
        readonly description: "Elbow extend";
    };
    readonly a: {
        readonly motor: "wrist_flex";
        readonly direction: -1;
        readonly description: "Wrist down";
    };
    readonly d: {
        readonly motor: "wrist_flex";
        readonly direction: 1;
        readonly description: "Wrist up";
    };
    readonly q: {
        readonly motor: "wrist_roll";
        readonly direction: -1;
        readonly description: "Wrist roll left";
    };
    readonly e: {
        readonly motor: "wrist_roll";
        readonly direction: 1;
        readonly description: "Wrist roll right";
    };
    readonly o: {
        readonly motor: "gripper";
        readonly direction: 1;
        readonly description: "Gripper open";
    };
    readonly c: {
        readonly motor: "gripper";
        readonly direction: -1;
        readonly description: "Gripper close";
    };
    readonly Escape: {
        readonly motor: "emergency_stop";
        readonly direction: 0;
        readonly description: "Emergency stop";
    };
};
/**
 * Create SO-100 hardware configuration
 */
export declare function createSO100Config(deviceType: "so100_follower" | "so100_leader"): RobotHardwareConfig;
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