# Magellan config for player 2.0, courtesy of Jon Klippenstein
 
 driver
 ( 
        name                            "rflex"
        provides                        ["sonar:::sonar:0" "position2d:0"
"bumper:0" "power:0" "ir:0"]
        
        rflex_serial_port               "/dev/ttyUSB0"
 
        m_length                                        0.5
        m_width                                         0.5
        odo_distance_conversion         31387 #44.5097
        odo_angle_conversion            4654.2 #5818.0204
        default_trans_acceleration      0.1
        default_rot_acceleration        0.1
 
        range_distance_conversion       1.474
        sonar_age                       1
        # assuming this is us, 16 sonars @ 2Hz gives 31.250 ms 
        # add a small ping delay to help ignore stray echos
        # for a max distance of ~5.1m
        sonar_ping_delay        1250
        sonar_echo_delay        30000
        max_num_sonars                  64
        num_sonars                      16
        num_sonar_banks                 2
        num_sonars_possible_per_bank    16
        num_sonars_in_bank              [8 8]
 
        # mmrad is theta, x, y in rad, mm, mm respectively.
        mrad_sonar_poses [ 
     4.3197  -76.5367 -184.7759
     3.9270 -141.4214 -141.4214
     3.5343 -184.7759  -76.5367
     3.1416 -200.0000    0.0000
     2.7489 -184.7759   76.5367
     2.3562 -141.4214  141.4214
     1.9635  -76.5367  184.7759
     1.5708    0.0000  200.0000
     1.1781   76.5367  184.7759
     0.7854  141.4214  141.4214
     0.3927  184.7759   76.5367
          0  200.0000         0
    -0.3927  184.7759  -76.5367
    -0.7854  141.4214 -141.4214
    -1.1781   76.5367 -184.7759
    -1.5708    0.0000 -200.0000    
 ]
 
 
        pose_count                      16
        rflex_bank_count                2
        rflex_banks                     [8 8]
 
        poses [
   -76.5367 -184.7759  247.5000
  -141.4214 -141.4214  225.0000
  -184.7759  -76.5367  202.5000
  -200.0000    0.0000  180.0000
  -184.7759   76.5367  157.5000
  -141.4214  141.4214  135.0000
   -76.5367  184.7759  112.5000
     0.0000  200.0000   90.0000
  184.7759  -76.5367  -22.5000
   141.4214 -141.4214  -45.0000
    76.5367 -184.7759  -67.5000
     0.0000 -200.0000  -90.0000
    76.5367  184.7759   67.5000
   141.4214  141.4214   45.0000
   184.7759   76.5367   22.5000
   200.0000         0         0
  ]
 
        bumper_count                    16
                
 
 )