robotku

# robotku.inc
# model for the robot “robotku”
# Author: Jennifer Owen
#robotku’s sonars
define robotkus_sonars ranger
(
# number of sonars
scount 4
# define the pose of each transducer [xpos ypos heading]
spose[0] [ 0.75 0.1875 0 ] #fr left tooth
spose[1] [ 0.75 -0.1875 0 ] #fr right tooth
spose[2] [ 0.25 0.5 30] # left corner
spose[3] [ 0.25 -0.5 -30] # right corner
# define the field of view of each transducer
#[range_min range_max view_angle]
sview [0.3 2.0 10]
# define the size of each transducer
# [xsize ysize] in meters
ssize [0.01 0.05]
)
# robotku’s blobfinder
define robotkus_eyes ptz
(
blobfinder
(
# number of colours to look for
channels_count 2
# which colours to look for
channels [“orange” “DarkBlue”]
# camera parameters
image [160 120] #resolution
range_max 5.00
ptz [0 0 60]
)
)
# robotku’s laser
define robotkus_laser laser
(
range_min 0.0
# distance between teeth in metres
range_max 0.25
# does not need to be big
fov 20
pose [0.625 0.125 270]
size [0.025 0.025]
)
# robotku’s body
define robotku position
(
# actual size
size [1.25 1 1]
# robotku’s centre of rotation is offset from its centre of area
origin [0.125 0 0]
# estimated mass in KG
mass 15.0
# the shape of robotku
polygons 3
polygon[0].points 6
polygon[0].point[0] [0 0]
polygon[0].point[1] [0 1]
polygon[0].point[2] [0.75 1]
polygon[0].point[3] [1 0.75]
polygon[0].point[4] [1 0.25]
polygon[0].point[5] [0.75 0]
polygon[1].points 4
polygon[1].point[0] [1 0.75]
polygon[1].point[1] [1.25 0.75]
polygon[1].point[2] [1.25 0.625]
polygon[1].point[3] [1 0.625]
polygon[2].points 4
polygon[2].point[0] [1 0.375]
polygon[2].point[1] [1.25 0.375]
polygon[2].point[2] [1.25 0.25]
polygon[2].point[3] [1 0.25]
# differential steering model
drive “diff”
# sensors attached to robotku
robotkus_sonars()
robotkus_eyes()
robotkus_laser()
)

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