# -------------------------------------------------------------------
#  Config file for the "rawlog-grabber" application
# Read more online: 
# http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

#  Each section [XXXXX] (but [global]) setups a thread in the RawLogGrabber 
#   standalone application. Each thread collects data from some
#   sensor or device, then the main thread groups and orders them before
#   streaming everything to a rawlog file.
#
#  The name of the sections can be arbitrary and independent of the sensor label. 
#   The driver for each sensor is actually determined by the field "driver", which must
#   match the name of some class in mrpt::hwdrivers implementing CGenericSensor.


# =======================================================
#  Section: Global settings to the application
#   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= /home/aba/DataSet/TestIR

# Milliseconds between thread launches (at start-up)
time_between_launches	= 400

use_sensoryframes	= 0

GRABBER_PERIOD_MS	= 10

# =======================================================
#  SENSOR: E-Nose
#   
# =======================================================
[PhidgetIK]
#Class name
driver			= CPhidgetInterfaceKitProximitySensors
process_rate	= 50		// Hz

sensorLabel		= IK
displayRecapitulativeInformations = true	// default value = false.
serialNumber = 154960						// The interface kit serial number (Integer value), default value is -1.

sensor2 = SHARP-80cm							// sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters).
pose2_x = 0								// position on the robot (float value in meters)
pose2_y = 0.05
pose2_z = 0.5
pose2_yaw = 0.0     					// Angles in degrees (float value).
pose2_pitch = 0
pose2_roll = 0

