AREXPORT ArRobotAmigoSh::ArRobotAmigoSh(const char *dir)
{
sprintf(mySubClass, "amigo-sh");
myRobotRadius = 180;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 300;
myAbsoluteMaxVelocity = 1000;
myDistConvFactor = 1;
myVelConvFactor = 1.0;
myRangeConvFactor = 1.0;
myDiffConvFactor = 0.011;
myVel2Divisor = 20;
myRobotWidth = 279;
myRobotLength = 330;
myRobotLengthFront = 160;
myRobotLengthRear = 170;
myNumSonar = 8;
internalSetSonar(0, 70, 100, 90);
internalSetSonar(1, 125, 75, 41);
internalSetSonar(2, 144, 30, 15);
internalSetSonar(3, 144, -30, -15);
internalSetSonar(4, 120, -75, -41);
internalSetSonar(5, 70, -100, -90);
internalSetSonar(6, -146, -58, -145);
internalSetSonar(7, -146, 58, 145);
myLaserPort[0] = '\0';
}
AREXPORT ArRobotPsos1X::ArRobotPsos1X(const char *dir)
{
sprintf(mySubClass, "psos1x");
myRobotRadius = 220;
myRobotDiagonal = 90;
myAbsoluteMaxRVelocity = 100;
myAbsoluteMaxVelocity = 400;
myHaveMoveCommand = 0;
mySwitchToBaudRate = 0;
myAngleConvFactor = 0.0061359;
myDistConvFactor = 0.05066;
myVelConvFactor = 2.5332;
myRangeConvFactor = 0.1734;
myDiffConvFactor = 1.0/300.0;
myVel2Divisor = 4;
myNumFrontBumpers = 0;
myNumRearBumpers = 0;
myNumSonar = 7;
internalSetSonar(0, 100, 100, 90);
internalSetSonar(1, 120, 80, 30);
internalSetSonar(2, 130, 40, 15);
internalSetSonar(3, 130, 0, 0);
internalSetSonar(4, 130, -40, -15);
internalSetSonar(5, 120, -80, -30);
internalSetSonar(6, 100, -100, -90);
myLaserPort[0] = '\0';
myTransVelMax = 400;
myRotVelMax = 100;
mySettableAccsDecs = false;
}
AREXPORT ArRobotP3ATIWSH::ArRobotP3ATIWSH(const char *dir)
{
sprintf(mySubClass, "p3atiw-sh");
myRobotRadius = 500;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 300;
myAbsoluteMaxVelocity = 1200;
myDistConvFactor = 1.0;
myRangeConvFactor = 1.0;
myDiffConvFactor = .0034;
myRobotWidth = 490;
myRobotLength = 626;
myRobotLengthFront = 313;
myRobotLengthRear = 313;
myNumSonar = 16;
internalSetSonar(0, 147, 136, 90);
internalSetSonar(1, 193, 119, 50);
i
AREXPORT ArRobotP3AT::ArRobotP3AT(const char *dir)
{
sprintf(mySubClass, "p3at");
myRobotRadius = 500;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 300;
myAbsoluteMaxVelocity = 1200;
myDistConvFactor = 0.465;
myRangeConvFactor = 1.0;
myDiffConvFactor = .0034;
myRobotWidth = 505;
myRobotLength = 626;
myRobotLengthFront = 313;
myRobotLengthRear = 313;
myNumSonar = 16;
internalSetSonar(0, 147, 136, 90);
internalSetSonar(1, 193, 119, 50);
internalSetSonar(2, 227, 79, 30);
internalSetSonar(3, 245, 27, 10);
internalSetSonar(4, 245, -27, -10);
internalSetSonar(5, 227, -79, -30);
internalSetSonar(6, 193, -119, -50);
internalSetSonar(7, 147, -136, -90);
internalSetSonar(8, -144, -136, -90);
internalSetSonar(9, -189, -119, -130);
internalSetSonar(10, -223, -79, -150);
internalSetSonar(11, -241, -27, -170);
internalSetSonar(12, -241, 27, 170);
internalSetSonar(13, -223, 79, 150);
internalSetSonar(14, -189, 119, 130);
internalSetSonar(15, -144, 136, 90);
myLaserX = 160;
myLaserY = 0;
}
AREXPORT ArRobotP2D8Plus::ArRobotP2D8Plus(const char *dir)
{
sprintf(mySubClass, "p2d8+");
myRobotRadius = 250;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 500;
myAbsoluteMaxVelocity = 2200;
myDistConvFactor = 0.485;
myRangeConvFactor = 1.0;
myDiffConvFactor = .0056;
myRobotWidth = 425;
myRobotLength = 511;
myRobotLengthFront = 210;
myRobotLengthRear = 301;
myNumSonar = 16;
internalSetSonar(0, 69, 136, 90);
internalSetSonar(1, 114, 119, 50);
internalSetSonar(2, 148, 78, 30);
internalSetSonar(3, 166, 27, 10);
internalSetSonar(4, 166, -27, -10);
internalSetSonar(5, 148, -78, -30);
internalSetSonar(6, 114, -119, -50);
internalSetSonar(7, 69, -136, -90);
internalSetSonar(8, -157, -136, -90);
internalSetSonar(9, -203, -119, -130);
internalSetSonar(10, -237, -78, -150);
internalSetSonar(11, -255, -27, -170);
internalSetSonar(12, -255, 27, 170);
internalSetSonar(13, -237, 78, 150);
internalSetSonar(14, -203, 119, 130);
internalSetSonar(15, -157, 136, 90);
myLaserX = 18;
myLaserY = 0;
}
AREXPORT ArRobotPowerBot::ArRobotPowerBot(const char *dir)
{
sprintf(mySubClass, "powerbot");
myRobotRadius = 550;
myRobotDiagonal = 240;
myAbsoluteMaxRVelocity = 360;
myAbsoluteMaxVelocity = 2000;
myDistConvFactor = 0.5813;
myRangeConvFactor = 1.0;
myDiffConvFactor = .00373;
myRobotWidth = 680;
myRobotLength = 911;
myRobotLengthFront = 369;
myRobotLengthRear = 542;
myFrontBumpers = true;
myNumFrontBumpers = 7;
myRearBumpers = true;
myNumRearBumpers = 5;
myNumSonar = 32;
internalSetSonar(0, 152, 278, 90);
internalSetSonar(1, 200, 267, 65);
internalSetSonar(2, 241, 238, 45);
internalSetSonar(3, 274, 200, 35);
internalSetSonar(4, 300, 153, 25);
internalSetSonar(5, 320, 96, 15);
internalSetSonar(6, 332, 33, 5);
internalSetSonar(7, 0, 0, -180);
internalSetSonar(8, 332, -33, -5);
internalSetSonar(9, 320, -96, -15);
internalSetSonar(10, 300, -153, -25);
internalSetSonar(11, 274, -200, -35);
internalSetSonar(12, 241, -238, -45);
internalSetSonar(13, 200, -267, -65);
internalSetSonar(14, 152, -278, -90);
internalSetSonar(15, 0, 0, -180);
internalSetSonar(16, -298, -278, -90);
internalSetSonar(17, -347, -267, -115);
internalSetSonar(18, -388, -238, -135);
internalSetSonar(19, -420, -200, -145);
internalSetSonar(20, -447, -153, -155);
internalSetSonar(21, -467, -96, -165);
internalSetSonar(22, -478, -33, -175);
internalSetSonar(23, 0, 0, -180);
internalSetSonar(24, -478, 33, 175);
internalSetSonar(25, -467, 96, 165);
internalSetSonar(26, -447, 153, 155);
internalSetSonar(27, -420, 200, 145);
internalSetSonar(28, -388, 238, 135);
internalSetSonar(29, -347, 267, 115);
internalSetSonar(30, -298, 278, 90);
sprintf(myLaserPort, "COM2");
myLaserFlipped = true;
myLaserX = 251;
myLaserY = 0;
}
AREXPORT ArRobotPerfPB::ArRobotPerfPB(const char *dir)
{
sprintf(mySubClass, "perfpb");
myRobotRadius = 340;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 500;
myAbsoluteMaxVelocity = 2200;
myDistConvFactor = 0.485;
myRangeConvFactor = 1.0;
myDiffConvFactor = 0.006;
myRequestIOPackets = true;
myTableSensingIR = true;
myNewTableSensingIR = true;
myFrontBumpers = true;
myRearBumpers = true;
myRobotWidth = 425;
myRobotLength = 513;
myNumIR = 4;
internalSetIR(0, 1, 2, 333, -233);
internalSetIR(1, 1, 2, 333, 233);
internalSetIR(2, 1, 2, -2, -116);
internalSetIR(3, 1, 2, -2, 116);
myNumSonar = 32;
internalSetSonar(0, 69, 136, 90);
internalSetSonar(1, 114, 119, 50);
internalSetSonar(2, 148, 78, 30);
internalSetSonar(3, 166, 27, 10);
internalSetSonar(4, 166, -27, -10);
internalSetSonar(5, 148, -78, -30);
internalSetSonar(6, 114, -119, -50);
internalSetSonar(7, 69, -136, -90);
internalSetSonar(8, -20, 136, 90);
internalSetSonar(9, 24, 119, 50);
internalSetSonar(10, 58, 78, 30);
internalSetSonar(11, 77, 27, 10);
internalSetSonar(12, 77, -27, -10);
internalSetSonar(13, 58, -78, -30);
internalSetSonar(14, 24, -119, -50);
internalSetSonar(15, -20, -136, -90);
internalSetSonar(16, -157, -136, -90);
internalSetSonar(17, -203, -119, -130);
internalSetSonar(18, -237, -78, -150);
internalSetSonar(19, -255, -27, -170);
internalSetSonar(20, -255, 27, 170);
internalSetSonar(21, -237, 78, 150);
internalSetSonar(22, -203, 119, 130);
internalSetSonar(23, -157, 136, 90);
internalSetSonar(24, -191, -136, -90);
internalSetSonar(25, -237, -119, -130);
internalSetSonar(26, -271, -78, -150);
internalSetSonar(27, -290, -27, -170);
internalSetSonar(28, -290, 27, 170);
internalSetSonar(29, -271, 78, 150);
internalSetSonar(30, -237, 119, 130);
internalSetSonar(31, -191, 136, 90);
myLaserX = 21;
myLaserY = 0;
}
AREXPORT ArRobotP2PB::ArRobotP2PB(const char *dir)
{
sprintf(mySubClass, "p2pb");
myRobotRadius = 300;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 500;
myAbsoluteMaxVelocity = 2200;
myDistConvFactor = 0.424;
myRangeConvFactor = 0.268;
myDiffConvFactor = 0.0056;
myFrontBumpers = true;
myRearBumpers = true;
myRobotWidth = 425;
myRobotLength = 513;
myNumSonar = 24;
internalSetSonar(0, 69, 136, 90);
internalSetSonar(1, 114, 119, 50);
internalSetSonar(2, 148, 78, 30);
internalSetSonar(3, 166, 27, 10);
internalSetSonar(4, 166, -27, -10);
internalSetSonar(5, 148, -78, -30);
internalSetSonar(6, 114, -119, -50);
internalSetSonar(7, 69, -136, -90);
internalSetSonar(8, -20, 136, 90);
internalSetSonar(9, 24, 119, 50);
internalSetSonar(10, 58, 78, 30);
internalSetSonar(11, 77, 27, 10);
internalSetSonar(12, 77, -27, -10);
internalSetSonar(13, 58, -78, -30);
internalSetSonar(14, 24, -119, -50);
internalSetSonar(15, -20, -136, -90);
internalSetSonar(16, -157, -136, -90);
internalSetSonar(17, -203, -119, -130);
internalSetSonar(18, -237, -78, -150);
internalSetSonar(19, -255, -27, -170);
internalSetSonar(20, -255, 27, 170);
internalSetSonar(21, -237, 78, 150);
internalSetSonar(22, -203, 119, 130);
internalSetSonar(23, -157, 136, 90);
myLaserX = 17;
myLaserY = 8;
}
AREXPORT ArRobotPatrolBotSH::ArRobotPatrolBotSH(const char *dir)
{
sprintf(mySubClass, "patrolbot-sh");
myRobotRadius = 250;
myRobotDiagonal = 120;
myAbsoluteMaxRVelocity = 500;
myAbsoluteMaxVelocity = 2200;
myDistConvFactor = 1.0;
myRangeConvFactor = 1.0;
myDiffConvFactor = 0.0056;
myRobotWidth = 425;
myRobotLength = 510;
myRobotLengthFront = 255;
myRobotLengthRear = 255;
myFrontBumpers = true;
myNumFrontBumpers = 6;
myRearBumpers = true;
myNumRearBumpers = 6;
myNumSonar = 16;
internalSetSonar(0, 83, 229, 90);
internalSetSonar(1, 169, 202, 55);
internalSetSonar(2, 232, 134, 30);
internalSetSonar(3, 263, 46, 10);
internalSetSonar(4, 263, -46, -10);
internalSetSonar(5, 232, -134, -30);
internalSetSonar(6, 169, -202, -55);
internalSetSonar(7, 83, -229, -90);
internalSetSonar(8, -83, -229, -90);
internalSetSonar(9, -169, -202, -125);
internalSetSonar(10, -232, -134, -150);
internalSetSonar(11, -263, -46, -170);
internalSetSonar(12, -263, 46, 170);
internalSetSonar(13, -232, 134, 150);
internalSetSonar(14, -169, 202, 125);
internalSetSonar(15, -83, 229, 90);
myLaserFlipped = true;
myLaserPowerControlled = true;
myLaserX = 37;
myLaserY = 0;
myLaserTh = 0.0;
strcpy(myLaserIgnore, "73 74 75 -73 -74 -75");
myRequestIOPackets = true;
}
