add vertices

botsim/README.md

@@ -41,8 +41,8 @@ If your bot chassis specifies a texture, it will be overlaid on the bot.
     - Copy the generated vertices to the chassis' "verts" field.
 14. Reference the texture in your bot's chassis spec
     - Set the chassis' "texture" field to the texture's relative path.
-15. Specify where the (two) wheels are on the chassis
-16. Specify the location of range sensor and line sensors 
+15. Specify where the (two) wheels are on the chassis, relative to center of chassis
+16. Specify the location of range sensor and line sensors, relative to center of chassis
 17. Copy over leds section (individual LEDs not supported)
 18. Add bot to botsim/src/bots/index.ts
 

botsim/src/bots/fwdeducakit.ts

@@ -0,0 +1,67 @@
+import { BotSpec, toWheels } from "./specs"
+
+const spec: BotSpec = {
+    name: "Forward Education Smart Vehicle",
+    productId: 0xdeadbeef,
+    mass: 1,
+    weight: 126,
+    silkColor: "#000000",
+    chassis: {
+        shape: "polygon",
+        texture: "bots/fwdeducakit/chassis.png",
+        verts: [{ "x": -5.494855004677269, "y": 1.5931909982688979 },
+            { "x": -4.568755846585594, "y": -4.043277553375649 },
+            { "x": -4.476145930776426, "y": -4.144835545297172 },
+            { "x": -1.6875584658559402, "y": -5.477784189267167 },
+            { "x": 1.7081384471468661, "y": -5.496826312752453 },
+            { "x": 4.373246024321796, "y": -4.278130409694172 },
+            { "x": 4.496725912067353, "y": -4.170225043277553 },
+            { "x": 4.5481758652946676, "y": -3.986151182919792 },
+            { "x": 4.836295603367633, "y": -2.354875937680323 },
+            { "x": 5.494855004677269, "y": 1.624927870744374 },
+            { "x": 5.494855004677269, "y": 2.177149451817657 },
+            { "x": 4.7025257249766135, "y": 5.173110213502596 },
+            { "x": 4.332086061739944, "y": 5.471436814772072 },
+            { "x": -4.270346117867166, "y": 5.477784189267167 },
+            { "x": -4.681945743685688, "y": 5.071552221581073 },
+            { "x": -5.494855004677269, "y": 2.240623196768609 } ]
+    },
+    wheels: toWheels({
+        separation: 13.5,
+        diameter: 6.0,
+        width: 0.7,
+        y: 3.0,
+    }),
+    rangeSensor: {
+        beamAngle: 25, // degrees
+        maxRange: 40, // cm
+        pos: { x: 0, y: -10.5 },
+    },
+    // Recognized line sensor names: "outer-left", "left", "middle", "right", "outer-right"
+    lineSensors: [
+        {
+            name: "left",
+            // offset to center of sensor from chassis center
+            pos: { x: -1.0, y: -9.5 },
+        },
+        {
+            name: "middle",
+            // offset to center of sensor from chassis center
+            pos: { x: -0.0, y: -9.5 },
+        },
+        {
+            name: "right",
+            // offset to center of sensor from chassis center
+            pos: { x: 1.0, y: -9.5 },
+        },
+    ],
+    leds: [
+        {
+            name: "general", // Generalized/non-specific LED
+            pos: { x: 0, y: 0 },
+            radius: 0, // The "general" LED takes its shape and size from the chassis
+        },
+    ],
+}
+
+export default spec