USARBot.Tarantula

class Tarantula extends SkidSteeredRobot config(USARBot);

defaultproperties
{
  //---Wheel/track information.  Since the Tarantula has four tracks, we have four of these definitions
  // The next four definitions will create a skid steer Tarantula

    // Number=4 indicates that this track is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Right_Powered tells USARSim to spin the track's wheels using the right throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, the track's wheels are not steered
    Wheels(0)=(Number=4,PowerType=Right_Powered);

    // Number=5 indicates that this track is the fifth JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin the track's wheels using the left throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, the track's wheels are not steered
    Wheels(1)=(Number=5,PowerType=Left_Powered);

    // Number=6 indicates that this track is the sixth JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Right_Powered tells USARSim to spin the track's wheels using the right throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, the track's wheels are not steered
    Wheels(2)=(Number=6,PowerType=Right_Powered);

    // Number=7 indicates that this track is the seventh JointPart defined in USARBot.ini (ORDER MATTERS!)
    // Power=Left_Powered tells USARSim to spin the track's wheels using the left throttle
    // Note that since the variables SteerType and MaxSteerAngle are not defined, the track's wheels are not steered
    Wheels(3)=(Number=7,PowerType=Left_Powered);
  //---

  //--Other Robot's Properties
    TireRollFriction=25.000000
    TireLateralFriction=25.00000
    TireSlipRate=0.0003000
    TireSoftness=0.000000

    DrawScale=4.762
    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Tarantula.TarantulaBody'
    MaxNetUpdateInterval=0.200000

    // Configuration Parameters. Note: these variables need to be correspond to your robot's model.
    Dimensions=(X=0.6778,Y=0.444,Z=0.1406) // X=Length=0.6778m, Y=Width=0.444m, Z=Height=0.1406m
    maxSpinSpeed=3.1416                    // Maximum track's spin speed is 3.1416 rad/sec = 180 deg/sec

    Begin Object Class=KarmaParamsRBFull Name=KParams0
        KInertiaTensor(0)=0.010000
        KInertiaTensor(3)=0.02000
        KInertiaTensor(5)=0.03000
        KCOMOffset=(X=0.000000,Z=0.000000)
        KLinearDamping=0.500000
        KAngularDamping=50.00000
        KStartEnabled=True
        bHighDetailOnly=False
        bClientOnly=False
        bKDoubleTickRate=True
        KFriction=1.600000
        Name="KParams0"
    End Object
    KParams=KarmaParamsRBFull'USARBot.Tarantula.KParams0'
  //--
}