-
-
Notifications
You must be signed in to change notification settings - Fork 5
/
Copy pathquatos_example.xml
159 lines (159 loc) · 5.49 KB
/
quatos_example.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
<?xml version="1.0"?>
<!-- Distances in meters
Wieghts in grams
+1 == CW rotation
-1 == CCW rotation
-->
<quatos_configuration>
<craft id="mk_hex" config="hex_plus">
<port rotation="+1">9</port>
<port rotation="-1">13</port>
<port rotation="+1">8</port>
<port rotation="-1">1</port>
<port rotation="+1">4</port>
<port rotation="-1">2</port>
<distance>
<motor>0.29</motor>
<esc>0.14</esc>
</distance>
<mass>
<motor>74</motor>
<esc>20</esc>
<arm>25</arm>
<cube name="center" dimx="0.12" dimy="0.12" dimz="0.03" offsetx="0" offsety="0" offsetz="0.0">292</cube>
<cube name="bat1" dimx="0.14" dimy="0.05" dimz="0.022" offsetx="0" offsety="-0.045" offsetz="-0.055">354</cube>
<cube name="bat2" dimx="0.14" dimy="0.05" dimz="0.022" offsetx="0" offsety="+0.045" offsetz="-0.055">354</cube>
</mass>
</craft>
<craft id="fcp" config="quad_plus">
<ports>
<port rotation="-1">2</port>
<port rotation="+1">9</port>
<port rotation="-1">8</port>
<port rotation="+1">1</port>
</ports>
<distance>
<motor>0.29</motor>
<esc>0.0</esc>
</distance>
<mass>
<motor>115</motor>
<esc>0</esc>
<arm>33</arm>
<cube name="center" dimx="0.14" dimy="0.14" dimz="0.03" offsetx="0" offsety="0" offsetz="-0.03">454</cube>
<cube name="bat" dimx="0.05" dimy="0.14" dimz="0.03" offsetx="0" offsety="0" offsetz="-0.075">466</cube>
</mass>
</craft>
<craft id="tank" config="quad_plus">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">8</port>
<port rotation="-1">9</port>
</ports>
<distance>
<motor>0.235</motor>
<esc>0.117</esc>
</distance>
<mass>
<motor>100</motor>
<esc>20</esc>
<arm>10</arm>
<cube name="center" dimx="0.08" dimy="0.08" dimz="0.08" offsetx="0" offsety="0" offsetz="0">665</cube>
</mass>
</craft>
<craft id="big_hex" config="hex_plus">
<ports>
<port rotation="-1">3</port>
<port rotation="+1">10</port>
<port rotation="-1">8</port>
<port rotation="+1">7</port>
<port rotation="-1">1</port>
<port rotation="+1">2</port>
</ports>
<distance>
<motor>0.406</motor>
<esc>0.230</esc>
</distance>
<mass>
<motor>125</motor>
<esc>30</esc>
<arm>30</arm>
<cube name="center" dimx="0.140" dimy="0.127" dimz="0.080" offsetx="0" offsety="0" offsetz="-0.06">2212</cube>
<!--
<cube name="center" dimx="0.140" dimy="0.127" dimz="0.065" offsetx="0" offsety="0" offsetz="-0.04">1802</cube>
<cube name="go-pro" dimx="0.06" dimy="0.03" dimz="0.04" offsetx="+0.0" offsety="+0.13" offsetz="-0.05">115</cube>
-->
</mass>
</craft>
<craft id="quad_plus" config="custom" motors="4">
<geometry>
<motor rotation="+1" port="1">1,0</motor> //x axis runs from back to front, y axis runs from left to right.So front motor is 1,0
<motor rotation="-1" port="2">0,1</motor> //
<motor rotation="+1" port="3">-1,0</motor>
<motor rotation="-1" port="4">0,-1</motor>
</geometry>
</craft>
<craft id="octo_x" config="octo_x">
<ports>
<port rotation="-1">1</port>
<port rotation="+1">2</port>
<port rotation="-1">3</port>
<port rotation="+1">4</port>
<port rotation="-1">5</port>
<port rotation="+1">6</port>
<port rotation="-1">7</port>
<port rotation="+1">8</port>
</ports>
<distance>
<motor>0.406</motor>
<esc>0.230</esc>
</distance>
<mass>
<motor>125</motor>
<esc>30</esc>
<arm>30</arm>
<cube name="center" dimx="0.140" dimy="0.127" dimz="0.065" offsetx="0" offsety="0" offsetz="-0.04">1802</cube>
</mass>
</craft>
<craft id="octo_plus" config="octo_plus">
<ports>
<port rotation="-1">1</port>
<port rotation="+1">2</port>
<port rotation="-1">3</port>
<port rotation="+1">4</port>
<port rotation="-1">5</port>
<port rotation="+1">6</port>
<port rotation="-1">7</port>
<port rotation="+1">8</port>
</ports>
<distance>
<motor>0.406</motor>
<esc>0.230</esc>
</distance>
<mass>
<motor>125</motor>
<esc>30</esc>
<arm>30</arm>
<cube name="center" dimx="0.140" dimy="0.127" dimz="0.065" offsetx="0" offsety="0" offsetz="-0.04">1802</cube>
</mass>
</craft>
<!-- example of a quad_plus entered with custom geometry -->
<craft id="custom_craft" config="custom" motors="4">
<geometry>
<motor port="1" rotation="+1"> +0.235, 0.0</motor>
<motor port="2" rotation="-1">0.0,.235</motor>
<motor port="8" rotation="+1"> -.235,0.0</motor>
<motor port="9" rotation="-1">0.0,-.235</motor>
</geometry>
<distance>
<esc>0.117</esc>
</distance>
<mass>
<motor>100</motor>
<esc>20</esc>
<arm>10</arm>
<cube name="center" dimx="0.08" dimy="0.08" dimz="0.08" offsetx="0" offsety="0" offsetz="0">665</cube>
</mass>
</craft>
</quatos_configuration>