Skip to content
This repository
tree: 0f72ec239f
Fetching contributors…

Octocat-spinner-32-eaf2f5

Cannot retrieve contributors at this time

file 143 lines (125 sloc) 2.899 kb
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142
# Define a model based on the Autonomy Lab Chatterbox robot
#
# Author: Richard T Vaughan (rtv), Ash Charles
# $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $

include "irobot.inc"
include "hokuyo.inc"

define cbir sensor
(
  # define the size of each transducer [xsize ysize zsize] in meters
  size [0.01 0.03 0.01 ]
  # define the range bounds [min max]
  range [0 1.5]
# define the angular field of view in degrees
fov 20
# define the number of samples spread over the fov
  samples 1
# define the color that ranges are drawn in the gui
color_rgba [ 0 1 0 0.2 ]
)

define chatterbox create
(
 joules 100000 # todo
 joules_capacity 400000 # todo
 watts 100 # todo
 
# charging connection
 model
 (
pose [0.100 0.000 -0.090 0.000]
take_watts 1000.0 # todo
size [0.15 0.1 0.03]
color "yellow"
obstacle_return 0
 )

 model(
        block( points 6
               point[0] [-3 -1.5 ]
               point[1] [-3 0.5 ]
               point[2] [-2 1.5 ]
               point[3] [+2 1.5 ]
               point[4] [+3 0.5 ]
               point[5] [+3 -1.5 ]
               z [0 0.05]
)

        pose [-0.03 0 0 90]
        size [0.25 0.20 0.05 ]
        color "gray"
   )
 
 ranger
 (
  cbir( pose [ 0.050 0.000 0 0] ) # front forward
  cbir( pose [ 0.050 0.050 0 30] ) # front left side
  cbir( pose [ 0.000 0.050 0 90] ) # left side
  cbir( pose [-0.050 0.000 0 180] ) # back backwards
  cbir( pose [ 0.000 -0.050 0 -90] ) # right side
  cbir( pose [ 0.050 -0.050 0 -30] ) # front right side
 )
 
 fiducial
 (
pose [0.040 0.000 -0.005 0.000]
range_min 0.0
range_max 2.5
range_max_id 2.5
fov 60
watts 10 # todo
  )

 )


define laserchatterbox chatterbox
(
 hokuyolaser()
)


# Desc: Charging station to work with the chatterbox model
# Author: Ash Charles
# Date: 26 Febuary 2009

define charger model
(
  size [ 0.040 0.200 0.100 ]
  color "gray70"
  
  # base pad
  model(
color "gray50"
size [0.10 0.20 0.001]
pose [-0.070 0 -0.1 0]
obstacle_return 0
  )
  # IR beam blocker
# model(
# color "gray30"
# size [ 0.005 0.014 0.010]
# pose [-0.020 0.000 -0.015]
# )
  # IR beacons: Red=Port=Left; Right=Starboard=Green; Purple=Omni
  model(
color "red"
size [0.010 0.010 0.010]
pose [-0.016 0.010 -0.015 -10 ]
# fiducial_return 4
)
  model(
color "green"
size [0.010 0.010 0.010]
pose [-0.016 -0.010 -0.015 10 ]
# fiducial_return 5
)
  model(
color "purple"
size [0.010 0.010 0.010]
    pose [-0.020 0.000 -0.015 0.000]
    fiducial_return 6
    )

  # Positive Terminal of Charging Block
  model(
    pose [ -0.040 0.000 -0.100 0 ]
    color "yellow"
    size [ 0.020 0.100 0.005 ]
    joules -1 # provides infinite energy
    give_watts 1000
obstacle_return 0
   )
  
  # Negative terminal of the charging block
# model(
# pose [ -0.040 -0.040 -0.100 0 ]
# color "yellow"
# size [ 0.020 0.020 0.005 ]
# )
)
Something went wrong with that request. Please try again.