# Desc: Device definitions for Activemedia Pioneer robots.# Author: Andrew Howard# Date: 10 Jun 2002# CVS: $Id: pioneer.inc,v 1.5 2002/11/01 19:12:33 rtv Exp $# The Pioneer2DX sonar arraydefine p2dx_sonar sonar(  scount 16  spose[0] [ 0.115 0.130 90 ]  spose[1] [ 0.155 0.115 50 ]  spose[2] [ 0.190 0.080 30 ]  spose[3] [ 0.210 0.025 10 ]  spose[4] [ 0.210 -0.025 -10 ]  spose[5] [ 0.190 -0.080 -30 ]  spose[6] [ 0.155 -0.115 -50 ]  spose[7] [ 0.115 -0.130 -90 ]  spose[8] [ -0.115 -0.130 -90 ]  spose[9] [ -0.155 -0.115 -130 ]  spose[10] [ -0.190 -0.080 -150 ]  spose[11] [ -0.210 -0.025 -170 ]  spose[12] [ -0.210 0.025 170 ]  spose[13] [ -0.190 0.080 150 ]  spose[14] [ -0.155 0.115 130 ]  spose[15] [ -0.115 0.130 90 ])# the pioneer's center of rotation is offset from its # center of area #define pioneer2dx position(  size [.440 .330]  offset [-0.04 0.0]  p2dx_sonar()  power())# define 10 straight bumpers around the edge of the robot## (these angles are correct for p2dx but the offsets are approximate - RTV)# bpose format: [x y th length radius] (zero radius gives a straight line)#define pioneer2dxbumper bumper(   bcount 10  bpose[0] [  0.17 -0.22  -52  0.105 0.0 ]  bpose[1] [  0.24 -0.12  -19  0.105 0.0 ]  bpose[2] [  0.26  0.00    0  0.105 0.0 ]  bpose[3] [  0.24  0.12   19  0.105 0.0 ]  bpose[4] [  0.17  0.22   52  0.105 0.0 ]  bpose[5] [ -0.25  0.22  128  0.105 0.0 ]  bpose[6] [ -0.32  0.12  161  0.105 0.0 ]  bpose[7] [ -0.34  0.00  180  0.105 0.0 ]  bpose[8] [ -0.32 -0.12  199  0.105 0.0 ]  bpose[9] [ -0.25 -0.22  232  0.105 0.0 ])# The AmigoBot sonar arraydefine amigo_sonar sonar(  scount 8  spose[0] [ 0.073 0.105 90 ]  spose[1] [ 0.130 0.078 41 ]  spose[2] [ 0.154 0.030 15 ]  spose[3] [ 0.154 -0.030 -15 ]  spose[4] [ 0.130 -0.078 -41 ]  spose[5] [ 0.073 -0.105 -90 ]  spose[6] [ -0.146 -0.060 -145 ]  spose[7] [ -0.146 0.060 145 ])define amigobot position(  size [.330 .280]  # what should the offset be?  #offset [0.0 0.0]  amigo_sonar()  power())