ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	
	Run = PhidgetsEncoders  @       NewConsole=false	
	Run = eCarOdometry  @       NewConsole=false
	Run = ScopeLogger       @       NewConsole=false
}

//------------------------------------------
// PhidgetsEncoders configuration block

ProcessConfig = PhidgetsEncoders
{
	CommsTick  = 100
	AppTick    = 100
	MaxAppTick = 1000
	
	// (Default="ENC1") Encoder data from this board will be published as "_CH_{COUNT,INSTANT_VEL}" with i=0,1,2,3 for each encoder channel.
	ENCODER_PUBLISH_PREFIX	 = ENC1
	
	// (Default=-1) The serial number of the Phidgets encoder: the number in the "S/N" sticker (or "-1" to open the first board found).
	// ENCODER_SERIAL	 = -1

	// (Default=10) Number of samples for the sliding window average filter of speeds.	
	SPEED_FILTER_SAMPLES_LEN  = 10

	SPEED_FILTER_IDLE_ITER_LOOPS_BEFORE_RESET = 10
}


//------------------------------------------
// eCarOdometry configuration block

ProcessConfig = eCarOdometry
{
	CommsTick  = 100
	AppTick    = 100
	MaxAppTick = 1000
	
	// Ticks to meters constant for left wheel encoders.
	left_K	  = 1.3028e-04  //  

	// Ticks to meters constant for right wheel encoders.
	right_K	  = -1.2795e-04
	
	// Wheel-to-wheel distance (meters)
	wheels_dist	 = 1.23    //1.28
	// 1.23: Calculado encajando un gran cierre de bucle
  
	// Debug info to console:
	odometry_verbose  = true
// Teoricas: Jero JLT. Verificadas en nave
// iL=12/110; % relacion de transmision izq
// iR=12/112; % relacion de transmision dch
// ticksL=360*4; %resolución 360, codificacion X4
// ticksR=360*4; %resolución 360, codificacion X4
// r_wheel = 0.2737; % radio de la rueda experimental [m]
// b = 1.280; % distancia entre ruedas de centro a centro [m]
// KL = iL*2*pi*r_wheel/ticksL;
// KR = iR*2*pi*r_wheel/ticksR;

}
ProcessConfig = ScopeLogger
{
//SERVERHOST = 10.0.0.1
}