#This is the configuration file for wormcontrol.py
#aTolerance : angle tolerance, the angle precision to which the clusters must face the goal point before starting to move towards it
#dTolerance : distance tolerance, the distance range from the target point where the the cluster is considered to have reached the target
#moduleNames : the list of modules names used. (the names are defined in JoyApp.yml) They must be in order from left to right in the following manner:
#   [1st cluster front mod, 1st mid mod, 1st back mod, 2nd cluster front mod, ...]
#markerNames : the list of markers corresponding to the clusters. These must be the same order as the module list 
#   moduleNames : ['B1','B2','B4','C1','C2','C4']
#   markerNames : ['data/patt.p4','data/patt.p5']
#This means the first cluster consists of modules B1 B2 and B3 (defined in JoyApp.yml) and has the marker patt.p2 in "data" directory
#planRate simply decides how fast the modules move.
#
#The orientation of the marker: The "bottom" of the marker should be facing the first node on the cluster (B1, C1...etc.)

aTolerance : 15
dTolerance : 100
moduleNames : ['B1','B2','B4','C1','C2','C4']
markerNames : ['data/patt.p2','data/patt.p5']
planRate : 6