# Desc: Device definitions
# Author: Kallahar - kallahar@kallahar.com
# Date: August 2005

# units: x/y are the location on the grid
#      : fov and heading are degrees
#      : distances are in meters

# The fixed IR sensors
define bot_ir_fixed ranger (  # "ranger" is a generic distance-sensor type
	scount 3  # number of sensors we'll have

	# to calculate these x/y positions I drew it out on graph paper and then tweaked them a bit.

	# define the pose of each transducer [xpos ypos heading]
	spose[0] [ 0.30 -0.150 320 ] # left   : positioned a little to the left of the center
	spose[1] [ 0.30  0.000 0   ] # center : center of the front bumper
	spose[2] [ 0.30  0.150 45  ] # right  : a little right of the center
		
	# define the field of view of each transducer [range_min range_max view_angle]
	sview[0] [0.2 1.5 10]  # 20cm-150cm, 10 degree field of view (from the datasheet for the sensors we plan on using)
	sview[1] [0.2 1.5 10]
	sview[2] [0.2 1.5 10]

	# define the size of each transducer [xsize ysize] in meters
	ssize[0] [0.2 0.1]  # these are pretty much dummy fields since sensor size is so small.
	ssize[1] [0.2 0.1]
	ssize[2] [0.2 0.1]
)




# the position of the bot
define bot position (
	# actual size
	size [0.50 0.35]   # calculated from the graph paper drawing

	# draw a nose on the robot so we can see which way it points
	gui_nose 1   # small dot on that bumper
	gui_boundary 0	

	mass 15.0  # estimated mass in KG

	# this polygon approximates the shape of a pioneer
	polygons 1   # I used the graph paper drawing to find these coords, better ways exist.
	polygon[0].points 21
	polygon[0].point[0]  [ 0.000 0.000 ]
	polygon[0].point[1]  [ 0.125 0.000 ]
	polygon[0].point[2]  [ 0.125 0.100 ]
	polygon[0].point[3]  [ 0.150 0.100 ]
	polygon[0].point[4]  [ 0.150 0.050 ]
	polygon[0].point[5]  [ 0.350 0.050 ]
	polygon[0].point[6]  [ 0.350 0.100 ]
	polygon[0].point[7]  [ 0.375 0.100 ]
	polygon[0].point[8]  [ 0.375 0.000 ]
	polygon[0].point[9]  [ 0.500 0.000 ] # end of top
	polygon[0].point[10] [ 0.500 0.350 ] # bottom right
	polygon[0].point[11] [ 0.375 0.350 ]
	polygon[0].point[12] [ 0.375 0.250 ]
	polygon[0].point[13] [ 0.350 0.250 ]
	polygon[0].point[14] [ 0.350 0.300 ]
	polygon[0].point[15] [ 0.150 0.300 ]
	polygon[0].point[16] [ 0.150 0.250 ]
	polygon[0].point[17] [ 0.125 0.250 ]
	polygon[0].point[18] [ 0.125 0.350 ]
	polygon[0].point[19] [ 0.000 0.350 ]
	polygon[0].point[20] [ 0.000 0.000 ] # looped
	polygon[0].filled 1

	# differential steering model
	drive "diff"   # unfortunately there doesn't seem to be a car style steering yet, so to make it easy I left it as differential

	# use the sonar array defined above
	bot_ir_fixed()  # since we put our sensors in a function, call that function to declare them.
)