/////////////////////////////////////////////////////////////////////////////
// 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		= 
	
	//crucial processes

	Run = MOOSDB        @  NewConsole = false

	Run = pGenericSensor       @	NewConsole=false ~ IR_RIG

	Run = iRobotGUI2010     @   NewConsole =false
	
	// MOOS-Scope: Visualizer of MOOS-DB	
	//Run = uMS       @       NewConsole=false
}


ProcessConfig = IR_RIG
{
	CommsTick = 20
	AppTick = 20

	driver			= CBoardIR
	process_rate		= 10		; Hz
	sensorLabel  		= INFRARED1

	COM_port_WIN	= COM1
	COM_port_LIN	= ttyUSB1

	baudRate	= 4800


	// The poses of the IR sensors: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]
	//  Up to 6 devices, but you can put any number of devices (from 1 to 16).
	pose0  = -0.2 -0.1 0.05 180 0 0
	pose1  = -0.2 +0.1 0.05 180 0 0
	pose2  = 0.23 0.13 0.05 35 0 0
	pose3  = 0.33 0.05 0.05 0 0 0
	pose4  = 0.33 -0.05 0.05 0 0 0
	pose5  = 0.23 -0.13 0.05 -35 0 0

}