> ## Documentation Index
> Fetch the complete documentation index at: https://docs.almond.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# jetson.setup

> Pin the Jetson NVENC/VIC and CPU clocks for the real-time loops.

Pins the Jetson clocks the real-time loops depend on:

* the **MAXN power mode** (`nvpmodel -m 0`), which uncaps the clock ceiling the other two pins reach (`nvpmodel` otherwise caps how high the governor and engine clocks can go),
* the **NVENC / VIC engine** devfreq nodes, so the camera relay's hardware H.264 encode stays low-latency (the default devfreq governor scales them for throughput, which roughly triples per-frame encode time), and
* the **CPU governor**, so the bursty IK loop isn't underclocked.

```bash theme={null}
axol jetson.setup
```

These pins reset on every reboot, so the [one-command install](/installation) wires this into the `axol.service` systemd unit as an `ExecStartPre`, re-pinning the clocks at every boot, and runs it once during install. It is **not** called from `teleop` / `collect-data` / `serve` — those entry points just run.

<Note>
  Best-effort and a no-op on non-Jetson machines. Pinning needs root: run as root, or you'll be prompted for `sudo` once on a terminal; if escalation isn't possible it logs the manual command and continues.
</Note>