#historisis factor using for play transitions
PLAY_TRANSITION_HISTORISIS 0.02

##########  Vision Data  ###################
FRAME_RATE 60.000000

# USED FOR OUR ROBOTS...
LATENCY_FRAMES 11.000000

# USED FOR OPPONENTS AND THE BALL...
OTHER_LATENCY_FRAMES 11.000000

#integer
OUR_LOST_FRAMES 30

#integer
BALL_LOST_FRAMES 5

#integer
OPPONENT_LOST_FRAMES 5

#team we are on
TEAM 0

##########  Sizes  #########################
BALL_RADIUS 0.020000
PLAYER_RADIUS 0.089000
OPPONENT_RADIUS 0.090000
WALL_BUFFER 0.150000

#Position marker not being in the center of the robot...
VISION_OFFSET 0.000000

####### Possession constants ######
GAIN_POSSESSION_FRAMES 20
LOSE_POSSESSION_FRAMES 4

DIST_TO_DRIBBLER 0.06200 ##0.075
DRIBBLER_LENGTH 0.120000 #0.14

# distance from dribbler that we say we have possession
POSSESSION_GAIN_TOLERANCE    0.06
POSSESSION_LOSE_TOLERANCE    0.09

#default speed to run the dribbler at.
# 1 = SLOW,   2 = MID,    3 = FAST
DEFAULT_DRIBBLER_SPEED  3

####### Robot data ######
ANGLE_OFFSET_ROBOT_ZERO 0.000000
ANGLE_OFFSET_ROBOT_ONE 0.000000
ANGLE_OFFSET_ROBOT_TWO 0.000000
ANGLE_OFFSET_ROBOT_THREE 0.000000
ANGLE_OFFSET_ROBOT_FOUR 0.000000

##########  Trajectory Data  ###############
# 2002 Obstacle Avoidance Params
SLOW_CLEARANCE                   0.01
FAST_CLEARANCE                   0.08
FAST_CLEARANCE_VELOCITY          0.7
MAX_WALL_OFFSET                  0.05
MAX_WALL_OFFSET_DISTANCE         0.3

# 2001 Obstacle Avoidance Params 
OBSTACLE_CLEARANCE               0.1
MAX_AVOIDANCE_ACCEL              2.5
MAX_AVOIDANCE_VEL                1.5
  
##########  Network Ports ##################
#this is Athena
SERVER_ADDR 127.0.0.1
VISION_PORT 4545
SIMULATOR_PORT 4646

##########  Team Data  #####################
GOALIE_INDEX 4

########  GUI Parameters #########
#1-n, else ignore this #
COLOR_SCHEME 2

#1=on 0=off
COMPLEX_MODE 1

########  COM port used for wireless #########
########  Options are COM1 or COM2   #########
COM_PORT COM1

######## 1 = JinWoo's Board, 2 = Michael Jordan's Board
WIRLESS_BOARD 1

##### 128 = High Priority, 256 = Realtime Priority
THREAD_PRIORITY 128

##Opponent Speeds
OPPONENT_SPEED.MAX_ACCELERATION   5.0
OPPONENT_SPEED.MAX_VELOCITY       2.0

ENABLE_PREDICTION_AND_FILTERING_OPPONENTS 1
