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Fix incorrect bumper thickness in robot config defaults #232

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Merged
shueja merged 2 commits into from
Jan 8, 2024
Merged

Fix incorrect bumper thickness in robot config defaults #232

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Fix incorrect bumper thickness in robot config defaults
shueja Jan 8, 2024
bb0d209
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shueja Jan 8, 2024
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12 changes: 8 additions & 4 deletions src/document/RobotConfigStore.ts
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Expand Up @@ -8,17 +8,21 @@ import { InToM, LbsToKg } from "../util/UnitConversions";
import { IStateStore } from "./DocumentModel";
import { SavedRobotConfig } from "./DocumentSpecTypes";

const DEFAULT_FRAME_SIZE = InToM(28);
const DEFAULT_BUMPER = DEFAULT_FRAME_SIZE + 2 * InToM(2.5 + 0.75); // 28x28 bot with 2.5" noodle and 0.75" backing
const DEFAULT_WHEELBASE = DEFAULT_FRAME_SIZE - 2 * InToM(2.625); //SDS Mk4i contact patch is 2.625 in from frame edge

export const ROBOT_CONFIG_DEFAULTS = {
mass: LbsToKg(150),
rotationalInertia: 6,
motorMaxVelocity: MotorCurves.KrakenX60.motorMaxVelocity * 0.8,
motorMaxTorque: maxTorqueCurrentLimited(MotorCurves.KrakenX60.kt, 60),
gearing: 6.75, // SDS L2 mk4/mk4i
wheelRadius: InToM(2),
bumperWidth: InToM(28 + 2.75 + 2.75), // 28x28 bot with 2.75" bumpers
bumperLength: InToM(28 + 2.75 + 2.75),
wheelbase: InToM(28 - 2.625 - 2.625), //SDS Mk4i contact patch is 2.625 in from frame edge
trackWidth: InToM(28 - 2.625 - 2.625),
bumperWidth: DEFAULT_BUMPER,
bumperLength: DEFAULT_BUMPER,
wheelbase: DEFAULT_WHEELBASE,
trackWidth: DEFAULT_WHEELBASE,
};
export const RobotConfigStore = types
.model("RobotConfigStore", {
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