###########################################################################
#
#  Amelia parameter file.
#
###########################################################################

# Robot hardware parameters.
RobotRadius             26.7
SonarOffset              7.5
SonarHardware            2
MaxTransSpeed           50.0
MaxRotSpeed             60.0
InitTransSpeed          35.0
InitRotSpeed            60.0
TransAcceleration	20.0
RotAcceleration		85.0
TransDeceleration	60.0
RotDeceleration		85.0

# Was MM_TO_BASE_ENCODERS*10 in rwibase_interface.h
CountsPerCM	       273.0

# Base Watchdog timer timeout in msec. 
# 0 = turn it off.  Max is 999.
baseWatchDogTimeout     900

#define	B0	0
#define	B50	1
#define	B75	2
#define	B110	3
#define	B134	4
#define	B150	5
#define	B200	6
#define	B300	7
#define	B600	8
#define	B1200	9
#define	B1800	10
#define	B2400	11
#define	B4800	12
#define	B9600	13
#define	B19200	14
#define	B38400	15
#define	EXTA	14
#define	EXTB	15

#valid laser types are nomad and sick
#laserType nomad
laserType sick

# TTY connections
armTTY         /dev/ttyb
armBAUD        13
laserTTY       /dev/cur6
panTiltTTY     /dev/cur1
panTiltBAUD    13
baseTTY        /dev/cur0
baseBAUD       13
sonarTTY       /dev/cua1
sonarBAUD      13
speechTTY      /dev/null
speechBAUD     13
cameraTTY      /dev/null

# Default Reactive Method
# (0=POTENTIAL_FIELD, 1=VECTOR_FIELD, 2=CURVATURE_METHOD,
#  3=LANE_METHOD, 4=BEAM_METHOD, 5=FUZZY_METHOD)
ReactiveMethod		3
LocalNavParams		localNav.param

# Potential field parameters.
RepulsionStrength       18000.0
AttractionStrength      10.0
SecurityArea            20.0
ObstacleArea            250.0
ObstacleAreaPotential   100.0
PointOfReadingPF        0.0

# Other reactive method parameters
GoalTolerance		30.0
SpeedFollowingWall	20.0
BumpRecoveryDistance	10.0
ToleranceDistanceWall	 7.5
MinFacingAngle		45.0

# Parameters for CVM
#DistanceWeight		 0.5
#HeadingWeight		 0.2
#ProgressWeight		 1.0
#FarHeadingWeight	 2.0
DistanceWeight		 0.6
HeadingWeight		 0.1
ProgressWeight		 0.3
FarHeadingWeight	 2.0
SafetyMargin		 5.0
TimeConstant		 1.0
AccelInterval		 2.0
TimeToImpact		 2.0
SlowSpeed		 7.5

# framegrabber info
CeyeFrameHardware	0
MeteorFrameHardware	1
baseToPanTiltX		0.0
baseToPanTiltY		18.0
baseToPanTiltZ		117.0

useSpeechBoard          0
useSoundBlaster         1
