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


ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	
	//crucial processes
	Run = MOOSDB        			@  NewConsole = false
	Run = pTEST_extRGBDSensor		@  NewConsole = false
	
	
	//Sensors and Actuators
	//Run = pGenericSensor       	@  NewConsole = false ~ PID
	//Run = pRawlog-grabber			@  NewConsole = true
	
	// MOOS-Scope: Visualizer of MOOS-DB	
	//Run = uMS       @       NewConsole=false	
}

ProcessConfig = pTEST_extRGBDSensor
{
	AppTick = 80			//Hz
	CommsTick = 80			//Hz
}


//---------------- SENSORS AND ACTUATORS -------------------//

ProcessConfig = PID
{
	CommsTick = 15
	AppTick = 15
	
	driver			= CRaePID
	process_rate	= 2			// Hz

	sensorLabel  	= RAE_PID
	pose_x			= 0.05		//Pose in the robot (meters)
	pose_y			= 0			//Pose in the robot (meters)
	pose_z			= 0.29		//Pose in the robot (meters)
	pose_yaw		= 0			//Degrees
	pose_pitch		= 0			//Degrees
	pose_roll		= 180		//Degrees

	COM_port_PID	= COM4
	COM_baudRate 	= 500000
	
}
ProcessConfig = pRawlog-grabber
{
	AppTick = 15			//Hz
	CommsTick = 15			//Hz
}