# 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
(
        name "rflex"
        provides ["position:0" "sonar::sonar:0" "power:0"]
	rflex_serial_port 		"/dev/ttyS1"
	mm_length			630.0
	mm_width			540.0
	odo_distance_conversion 	194.232294147
  	odo_angle_conversion 		64501.69726
	default_trans_acceleration 	1000.0
	default_rot_acceleration 	700.0

	range_distance_conversion 	1.55
	sonar_age			1
	max_num_sonars			64
	num_sonars			24
	num_sonar_banks			4
	num_sonars_possible_per_bank	16
	num_sonars_in_bank 		[6 6 6 6]
        mmrad_sonar_poses [0258.170 0114.700 0.000000 0252.240 0152.170 0.314159 0235.010 0185.980 0.628318 0208.190 0212.810 0.942478 0174.380 0230.030 1.256637 0136.910 0235.970 1.570796 -0258.170 0114.700 3.141592 -0252.240 0152.170 2.827433 -0235.010 0185.980 2.513274 -0208.190 0212.810 2.199114 -0174.380 0230.030 1.884955 -0136.910 0235.970 1.570796 -0258.170 -0114.700 -3.141592 -0252.240 -0152.170 -2.827433 -0235.010 -0185.980 -2.513274 -0208.190 -0212.810 -2.199114 -0174.380 -0230.030 -1.884955 -0136.910 -0235.970 -1.570796 0258.170 -0114.700 0.000000 0252.240 -0152.170 -0.314159 0235.010 -0185.980 -0.628318 0208.190 -0212.810 -0.942478 0174.380 -0230.030 -1.256637 0136.910 -0235.970 -1.570796]
)