# bigbob.inc
# model for the robot "Bigbob"
# Author: Jennifer Owen

#Bigbob's sonars
define bigbobs_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]
)

# bigbob's blobfinder
define bigbobs_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]
      )
)

# bigbob's laser
define bigbobs_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]
)


# bigbob's body
define bigbob position
(
      # actual size
      size [1.25 1 1]

      # Bigbob'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 Bigbob
      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 bigbob
      bigbobs_sonars()  
      bigbobs_eyes()
      bigbobs_laser()
)