USARBot.Cooper

class Cooper extends AckermanSteeredRobot config(USARBot);

//*********************************************************************************************************************
// DEFAULT PROPERTIES
//*********************************************************************************************************************
defaultproperties
{
  //---Wheel information.  Since the Cooper has four wheels, we have four of these definitions
  // The next four definitions will create a front-wheel-drive Cooper where the two front wheels can be steered with a maximum of 35 degrees

    // Number=0 indicates that this wheel is the first JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin this wheel (for ackerman-steered vehicles, there is no difference between Left_Powered and Right_Powered)
    // SteerType=Front_Steered tells USARSim to steer this wheel with the "FrontSteer" variable from the DRIVE command
    // MaxSteerAngle=0.610865 makes this wheel have a maximum turn angle between -35 degrees and +35 degrees (0.61086 radian = 35 degrees)
    Wheels(0)=(Number=0,PowerType=Left_Powered,SteerType=Front_Steered,MaxSteerAngle=0.610865);

    // Number=1 indicates that this wheel is the second JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin this wheel (for ackerman-steered vehicles, there is no difference between Left_Powered and Right_Powered)
    // SteerType=Front_Steered tells USARSim to steer this wheel with the "FrontSteer" variable from the DRIVE command
    // MaxSteerAngle=0.610865 makes this wheel  have a maximum turn angle between -35 degrees to +35 degrees (0.61086 radian = 35 degrees)
    Wheels(1)=(Number=1,PowerType=Left_Powered,SteerType=Front_Steered,MaxSteerAngle=0.610865);

    // Number=2 indicates that this wheel is the third JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Not_Powered tells USARSim to NOT power this wheel: the wheel spins freely, without being driven by a motor
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(2)=(Number=2,PowerType=Not_Powered);

    // Number=3 indicates that this wheel is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Not_Powered tells USARSim to NOT power this wheel: the wheel spins freely, without being driven by a motor
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(3)=(Number=3,PowerType=Not_Powered);
  //---

  //--Other Robot's Properties
    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Cooper.CooperBody'
    DrawScale=1.00
    
    // Configuration Parameters. Note: these variables need to be correspond to your robot's model.
    //WheelRadius=0.3727                   // Wheel Radius, in unreal units. Note: Value is in meters
    //Dimensions=(X=3.686,Y=1.799,Z=2.059) // X=Length=3.686m, Y=Width=1.799m, Z=Height=2.059m
    maxSpinSpeed=100                     // Maximum wheel's spin speed is 100 rad/sec = 134.172 kph = 83.37 mph

    bDebug=false
    DrawScale3D=(X=1.0,Y=1.0,Z=1.0)
    ChassisMass=1

    MaxTorque=60.0
    MotorTorque=20.0
    MotorSpeed=0.1745 // rad per second

    // Properties related to the steering of the hummer
    SteerPropGap=1000.000000
    SteerTorque=1000.000000
    SteerSpeed=15000.000000

    TireRollFriction=15.000000
    TireLateralFriction=15.000000
    TireRollSlip=0.0600
    TireLateralSlip=0.0600000
    TireMinSlip=0.001000
    TireSlipRate=0.00100000
    TireSoftness=0.000020
    TireAdhesion=0.000000
    TireRestitution=0.000000

    Begin Object Class=KarmaParamsRBFull Name=KParams0
        KInertiaTensor(0)=0.10000
        KInertiaTensor(3)=0.20000
        KInertiaTensor(5)=0.4000
        KCOMOffset=(X=0,Y=0,Z=-0.5)
        KLinearDamping=0.500000
        KAngularDamping=100.00000
        KStartEnabled=True
        bHighDetailOnly=False
        bClientOnly=False
        bKDoubleTickRate=True
        KFriction=1.600000
        Name="KParams0"
        KMaxSpeed=10000
    End Object
    KParams=KarmaParamsRBFull'USARBot.Cooper.KParams0'
  //---
}