# ogparms.cfg
#
# configuration file to hold OccupancyGrid parameters.

graph_width 100
graph_height 100

# The full size of the OccupancyGrid is grid_size by grid_size.
grid_size 500

grid_units_per_foot 3
robot_radius_feet 1.16
  
# care_dist_feet is the distance that if any ultrasonic reading is
# greater than, it will be ignored.  This helps reduce the error in our
# global field, but also doesn't allow the robot to correct for
# obstacles as soon as it normally would.

care_dist_feet 10
  
# number_passes is the number of passes before the entire field is
# decreased by one.

number_passes 8