<config>
    <enemy>
        <size>
            <width_mm>300</width_mm>
            <length_mm>300</length_mm>
            <margin_mm>50</margin_mm>
        </size>
        <detection>
            <min_move_threshold_mm>50</min_move_threshold_mm>
            <refresh_rate>3</refresh_rate>
            <max_stationary_time_s>0.5</max_stationary_time_s>
            <min_emergency_distance_mm>390</min_emergency_distance_mm>
            <margin_detection_table_mm>50</margin_detection_table_mm>
        </detection>
        <factor_close_enemy>-0.3</factor_close_enemy>
    </enemy>

    <robot>
        <size>
            <width_mm>300</width_mm>
            <length_mm>300</length_mm>
            <margin_mm>100</margin_mm>
        </size>
    </robot>

    <map>
        <size>
            <grid_width>600</grid_width>
            <grid_height>400</grid_height>

            <map_width_mm>3000</map_width_mm>
            <map_height_mm>2000</map_height_mm>
        </size>
    </map>

    <home>
        <blue x="2650" y="1600" theta="-1.5708"/>
        <yellow x="350" y="1600" theta="-1.5708"/>
    </home>
    <spawn>
        <yellow>
            <top x="375" y="1800" theta="-1.5708" />
        </yellow>
        <blue>
            <top x="2625" y="1800" theta="-1.5708" />
        </blue>
        <width_mm>450</width_mm>
        <height_mm>450</height_mm>
    </spawn>
    <usb>
        <timeout_ms>300</timeout_ms>
        <attempt>5</attempt>
    </usb>
    <mission_score>
        <banner>20</banner>
        <go_home>10</go_home>
        <concert>
            <niv_1>4</niv_1>
            <niv_2>8</niv_2>
            <niv_3>16</niv_3>
        </concert>
        <pami>
            <goupie>5</goupie>
            <superstar>5</superstar>
            <all_party>10</all_party>
        </pami>
    </mission_score>
    <pami>
        <time_to_put_zone>77</time_to_put_zone>
        <time_to_remove_top_pot>65</time_to_remove_top_pot>
    </pami>
</config>