/////////////////////////////////////////////////////////////////////////////
// Antler configuration  block
//
// This file is part of the OpenMORA (Open MObile Robotics Arquitecture)
//   http://babel.isa.uma.es/mora/
/////////////////////////////////////////////////////////////////////////////


ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	ExecutablePath		= /home/jlblanco/code/momr-release/bin
	
	//crucial processes

	Run = MOOSDB        @  NewConsole = false

//	Run = pGenericSensor       @       NewConsole=true ~ LASER1

	Run = pMobileRobot_Pioneer @ NewConsole = true
	Run = pJoystickControl     @   NewConsole =true
	
	// MOOS-Scope: Visualizer of MOOS-DB	
	Run = uMS       @       NewConsole=false
}

ProcessConfig = pMobileRobot_Pioneer
{
	CommsTick = 15
	AppTick = 15

	driver			= CActivMediaRobotBase

	robotPort_WIN 		= COM1
	robotPort_LIN 		= /dev/ttyUSB0
	robotBaud		= 115200

	enableSonars        	= 1     ; 0:Disabled (default), 1: Enabled

}

ProcessConfig = pJoystickControl
{
	CommsTick = 15
	AppTick = 10

	max_v	= 0.3	// Maximum linear speed (m/s)
	max_w	= 40	// Maximum angular speed (deg/s)
}