modelec-marcel-ROS/src/modelec_strat/data/config.xml

<config>
    <enemy>
        <size>
            <width_mm>300</width_mm>
            <length_mm>300</length_mm>
            <margin_mm>75</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>300</min_emergency_distance_mm>
            <margin_detection_table_mm>50</margin_detection_table_mm>
        </detection>
    </enemy>

    <robot>
        <size>
            <width_mm>300</width_mm>
            <length_mm>300</length_mm>
            <margin_mm>20</margin_mm>
        </size>
    </robot>

    <map>
        <size>
            <grid_width>3000</grid_width>
            <grid_height>2000</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"/>-->
        <blue x="2650" y="1700" theta="-1.5708"/>
        <yellow x="350" y="1700" theta="-1.5708"/>
    </home>
    <spawn>
        <yellow>
            <top x="350" y="1700" theta="-1.5708" />
        </yellow>
        <blue>
            <top x="2650" y="1700" theta="-1.5708" />
        </blue>
        <width_mm>450</width_mm>
        <height_mm>450</height_mm>
    </spawn>
    <mission_score>
        <go_home>10</go_home>
    </mission_score>
    <mission>
        <action>
            <timeout>
                <s>10</s>
            </timeout>
        </action>
        <min_time>
            <min_time_duration>
                <s>0.1</s>
            </min_time_duration>
        </min_time>
        <move>
            <min_ask_waypoint>
                <s>3</s>
            </min_ask_waypoint>
            <ask_waypoint_interval>
                <s>2</s>
            </ask_waypoint_interval>
            <go_timeout>
                <s>10</s>
            </go_timeout>
        </move>
    </mission>
    <pami>
        <time_to_put_zone>77</time_to_put_zone>
        <time_to_remove_top_pot>65</time_to_remove_top_pot>
    </pami>
    <static_strat>
        <enabled>false</enabled>
        <missions>
            <mission name="TAKE_MISSION" />
            <mission name="FREE_MISSION" />
            <mission name="THERMO_MISSION" />
        </missions>
    </static_strat>
    <factor>
        <theta>20</theta>
        <obs>0.6</obs>
        <thermo>0.7</thermo>
        <close_enemy>-2</close_enemy>
    </factor>
    <timer>
        <strat>
            <ms>20</ms>
        </strat>
        <action>
            <timed_servo>
                <ms>
                    10
                </ms>
            </timed_servo>
        </action>
    </timer>
    <thermo>
        <yellow>
            <start x="200" y="175" theta="0" />
            <finish x="700" y="175" theta="0" />
        </yellow>
        <blue>
            <start x="2800" y="175" theta="3.14" />
            <finish x="2300" y="175" theta="3.14" />
        </blue>
    </thermo>
    <cam>
        <save_to_file>
            <enabled>true</enabled>
            <directory>./cam/</directory>
        </save_to_file>
        <enabled>true</enabled>
        <!--<link>/dev/video0</link>-->
        <link>http://192.168.1.10:8080/video</link>
        <headless>true</headless>
        <rois>
            <roi x="400" y="200" w="150" h="150" />
            <roi x="400" y="500" w="150" h="150" />
            <roi x="400" y="700" w="150" h="150" />
            <roi x="400" y="1000" w="150" h="150" />

            <roi x="1900" y="200" w="150" h="150" />
            <roi x="1900" y="500" w="150" h="150" />
            <roi x="1900" y="700" w="150" h="150" />
            <roi x="1900" y="1000" w="150" h="150" />
        </rois>
        <colors>
            <color name="blue" hue_min="90" hue_max="130" />
            <color name="yellow" hue_min="20" hue_max="40" />

            <color name="red" hue_min="0" hue_max="10" />

            <color name="red" hue_min="160" hue_max="180" />
        </colors>
    </cam>
    <usb>
        <odo>
            <port>/dev/USB_ODO</port>
            <baudrate>115200</baudrate>
        </odo>
        <action>
            <port>/dev/USB_ACTION</port>
            <baudrate>115200</baudrate>
        </action>
        <timeout_ms>300</timeout_ms>
        <attempt>5</attempt>
    </usb>
    <ihm>
        <sound>
            <enabled>false</enabled>
            <test path=":/sound/test.mp3" />
        </sound>
    </ihm>
    <odo>
        <pid>
            <left p="4" i="0.1" d="0" />
            <right p="4" i="0.1" d="0" />
            <pos p="6" i="0" d="0.1" />
            <theta p="10" i="0" d="0.1" />
        </pid>
    </odo>
</config>