USARBot.P2AT

class P2AT extends SkidSteeredRobot config(USARBot);

defaultproperties
{
  //---Wheel information.  Since the P2AT has four wheels, we have four of these definitions
  // The next four definitions will create a 4-wheel skid steer P2AT where all the wheels are locked (cannot be steered)

    // Number=0 indicates that this wheel is the first JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Right_Powered tells USARSim to spin this wheel using the right throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(0)=(Number=0,PowerType=Right_Powered);

    // 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 using the left throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(1)=(Number=1,PowerType=Left_Powered);

    // Number=2 indicates that this wheel is the third JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin this wheel using the right throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(2)=(Number=2,PowerType=Right_Powered);

    // Number=3 indicates that this wheel is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin this wheel using the left throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
    Wheels(3)=(Number=3,PowerType=Left_Powered);
  //---

  //--Other Robot's Properties
    bDebug=false
    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.P2AT.P2ATBody'
    DrawScale=4.762
    DrawScale3D=(X=1.0,Y=1.0,Z=1.0)

    ChassisMass=1.000000
    
    // Configuration Parameters. Note: these variables need to be correspond to your robot's model.
    WheelRadius=0.13                        // Wheel Radius, in unreal units. Note: Value is in meters
    Dimensions=(X=0.5239,Y=0.4968,Z=0.2914) // X=Length=0.5239m, Y=Width=0.4968m, Z=Height=0.2914m
    maxSpinSpeed=5.385                     // Maximum wheel's spin speed is max_tran_speed/wheel_radius=0.7/0.13=5.385

    TireRollFriction=15.000000
    TireLateralFriction=15.000000
    TireRollSlip=0.0600
    TireLateralSlip=0.0600000
    TireMinSlip=0.005000
    //TireSlipRate=0.00050000
    TireSlipRate=0.0050000
    //TireSlipRate=0.050000 // for experiment!
    TireSoftness=0.000020
    TireAdhesion=0.000000
    TireRestitution=0.000000

    Begin Object Class=KarmaParamsRBFull Name=KParams0
        KInertiaTensor(0)=20.010000
        KInertiaTensor(3)=30.02000
        KInertiaTensor(5)=50.03000
        KCOMOffset=(X=0.000000,Z=0.000000)
        KLinearDamping=0.00000
        KAngularDamping=0.0000
        KStartEnabled=True
        bHighDetailOnly=False
        bClientOnly=False
        bKDoubleTickRate=True
        KFriction=1.600000
        Name="KParams0"
    End Object
    KParams=KarmaParamsRBFull'USARBot.P2AT.KParams0'
  //--
}