#This is a robot specification, as read by RobotSpec.


#For GotoPos behavior:

#The coefficient for compensating for existing spin. Without it, the
#robot will cease applying power just at the right angle, causing it
#to spin for some additional time. On the other hand, the image
#processing is currently broken w.r.t. this, producing weird
#results. Set to zero to turn off compensation.
spincompensation 0.05

#Weighting together forward and spinning motion to produce smooth movement.
speedfactor 3
turnfactor 0.5   #This version is for the roboSim simulator.
#turnfactor 0.3   #This version is for the actual robots.

#A final factor adjusting the total amount of power given to the motors.
scale 4

#Max distance for being considered finished
closedist 80

#Fartherst distance that has special speed influence. More distance
#than this means full power.
fardist 600

#Fartherst distance that has special turning influence
turndist 400
#Factor on compensation for close distance in turning
distfactor 9

#How much to limit speed when close to collision
brakecoeff 800
#Time remaining (sec) to collision when beginning to break
braketime 1

#These are not used yet:
length 160
width 130

#Set this to non-zero to make gotoPos show debug printings:
showdebug 0



#For TurnTo behavior:
#The maximum power to use for turning
maxturn 7

#Any angle bigger than this will lead to maximum turning
#bigangle 30
bigangle 120   #for the actual robots

#The largest angle considered close enough.
smallangle 3
#smallangle 5   #for the actual robots



#For KickBall behavior:

#Distance from ball to start "shoot". The robot will line up at this
#distance before speeding towards the ball.
balldist 500

#Smallest angle robot-ball-goal to insert waypoint beside ball (go around ball)
#This parameter is not used at the moment.
waypoint_angle  135

#Smallest angle robot-ball-goal when robot stops to correct its
#direction before shooting ball towards goal. Too high value decreases
#accuracy, too low makes the robot too careful for its own good.
direct_angle 15



#Settings for GotoPosCA: 
#GotoPosCA implements goto position with collision avoidance. This is
#done with a 'potential fields' approach.

#The goal attraction coefficient
goalattraction  100

#The radius of the sphere of influence of obstacles (mm). This is the
#fartherst distance for which an obstacle will be considered.
#For closer distances, repellation is reversely linear to the distance.
influencesphere 80

#The obstacle avoidance coefficient (has to be balanced against
#goalattraction).
#Too low, and the robot will collide. Too high, and
#the robot will move in a wide circle around it.
avoidancegain   20

tooClosesphere 20

#The repelling effect of an obstacle the robot is reported to be "inside".
#The message is, get out of here...
toocloserepellation 100


#Settings for WaitNFrames
#The number of frames to wait before reporting to be finished.
waitframes 20
