# configuration file to ATRV-Mini
# tells player which drivers to load

#note - serial port should be set in the first driver in the file
#	any other's will just be ignored 
#	(since they actually all  use the same port)	

driver
(
  	provides ["position:0" "sonar::sonar:0" "power:0"]
	name 			"rflex"
	rflex_serial_port 		"/dev/ttyR0"
	mm_length			800.0
	mm_width			650.0
	odo_distance_conversion         90.81
        odo_angle_conversion            37000.0
	default_trans_acceleration 	500.0
	default_rot_acceleration 	500.0

	range_distance_conversion 	1.476
	sonar_age			1
	max_num_sonars			64
	num_sonars			26
	num_sonar_banks			4
	num_sonars_possible_per_bank	16
	num_sonars_in_bank 		[5 8 5 8]
	sonar_echo_delay		30000
	sonar_ping_delay		0
	sonar_set_delay			0
	mmrad_sonar_poses [-334.950 -104.390 -2.617993 -340.410 -49.910 -2.879793 -347.060 0.0000 3.141592 -340.410 49.910 2.879793 -334.950 104.390 2.617993 230.230 175.000 0.785398 172.490 178.600 1.047197 117.200 181.100 1.308997 72.260 181.100 1.570796 -72.260 181.100 1.570796 -117.200 181.100 1.832595 -172.490 178.600 2.094395 -230.230 175.000 2.356194 296.200 103.600 0.523599 301.500 49.500 0.261799 308.100 0.0000 0.000000 301.500 -49.500 -0.261799 296.200 -103.600 -0.523599 230.230 -175.000 -0.785398 172.490 -178.600 -1.047197 117.200 -181.100 -1.308997 72.260 -181.100 -1.570796 -72.260 -181.100 -1.570796 -117.200 -181.100 -1.832595 -172.490 -178.600 -2.094395 -230.230 -175.000 -2.356194]
)