/////////////////////////////////////////////////////////////////////////////
// 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=false ~ SONAR_RIG

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

ProcessConfig = SONAR_RIG
{
	CommsTick = 10
	AppTick = 10

	driver			= CBoardSonars
	process_rate		= 10		; Hz
	sensorLabel  		= SONAR1

	USB_serialNumber	= SONAR001
	gain			= 5		// Value between 0 and 16, for analog gains between 40 and 700.
	maxRange		= 10.0		// In meters, used for device internal timer.
	minTimeBetweenPings	= 0.10		// In seconds

	// The order in which sonars will be fired, indexed by their I2C addresses [0,15]
	// Up to 16 devices, but you can put any number of devices (from 1 to 16).
	firingOrder=0 11 2 4 3 5 1 10 6 8 7 9

	// The individual gains of the sonars, indexed by their I2C addresses [0x00, 0x16] Typical: 0x05
	//  Up to 16 devices, but you can put any number of devices (from 1 to 16).
	sonarGains=8 8 8 8 8 8 8 8 8 8 8 8 

	// The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]
	//  Up to 16 devices, but you can put any number of devices (from 1 to 16).
	pose0  = 0.2 -0.16 0.76 -10 0 0
	pose1  = 0.2 0.16 0.76 10 0 0
	pose2  = 0.2 -0.16 0.56 -5 0 0
	pose3  = 0.2 0.16 0.56 5 0 0
	pose4  = -0.03 0.2 0.76 90 0 0
	pose5  = -0.03 -0.2 0.76 -90 0 0
	pose6  = 0.2 0.19 0.12 2 0 0
	pose7  = 0.2 -0.19 0.12 -2 0 0
	pose8  = -0.27 -0.13 0.11 180 0 0
	pose9  = -0.27 0.13 0.11 180 0 0
	pose10 = -0.27 -0.13 0.55 180 0 0
	pose11 = -0.27 0.13 0.55 180 0 0

}

ProcessConfig = iRobotGUI2010
{
	CommsTick = 15
	AppTick = 15

}