# robi description file for the EyeBot simulator EyeSim 6.0
# by Andreas Koestler, Thomas Braunl, 2004

# EyeSim 5.0 by Axel Waggershauser, Thomas Braunl, 2002
# inspired by the parameter file for EyeSim 1.0 by
# Thomas Braunl - Ghee Ong - Nicholas Tay, 1998

# the format: valid lines contain a keyword followed by a list of
# parameters seperated by white space. every line not starting with
# a keyword is ignored.

# every parameter describing a length is specified in milli meter
# every parameter describing a angle is specified in degree


# the name of the robi, the used string is the rest of the line
# behind the keyword without the surrounding white space
name S4Y

# robot diameter in mm
diameter 186

# max linear velocity in mm/s
speed    600 	

# max rotational velocity in deg/s
turn     300	

# the file name of the OpenInventor model used for this robi
model    S4Y.ms3d

# axis is the distance between the center of the robi and the center of
# the robis axis, e.g. a value of 0 means the axis is in the center of
# the robi, if no value is given, it is set to 0.
#axis     60

# psd sensor definition: (psd names are followed by id-number from "hdt_sem.h")
# "psd", name, id-num, relative position to robi center(x,y,z) in mm, angle in x-y plane in deg
psd PSD_FRONT      60	 20	30      0
psd PSD_LEFT       56 	 45     30     90
psd PSD_RIGHT      56	-45     30    -90

# color camera sensor definition:
# "camera", relative position to the robi center (x,y,z), default
# pan-tilt-angle (pan, tilt), maximum image width and height in pixel
# camera  45  0  72    0  -5    80  60
camera    45  0  72    SERVO1(-90,+90) SERVO2(-95,+85)  80  60 

# wheel diameter [mm], max. rotational velocity [deg/s], encoder ticks/rev., wheel-base distance [mm]
wheel  54  3600  1100  90

# motors and encoders for low level drive routines
# Diff.-drive: left motor, left encoder, right motor, right encoder
drive  DIFFERENTIAL_DRIVE  MOTOR_LEFT QUAD_LEFT  MOTOR_RIGHT QUAD_RIGHT