<?xml version="1.0" encoding="ISO-8859-1"?>
<!-- ER-1 Resource Config file for Windows -->
<Resources>
	<Dimensions>
		<Shape id="body" type="rectangular">
			<Parameter name="lz" value="50"/>
			<Parameter name="ly" value="50"/>
			<Parameter name="lx" value="60"/>
			<Parameter name="link" value="origin"/>
			<Parameter name="x" value="-15"/>
			<Parameter name="y" value="0"/>
			<Parameter name="z" value="25"/>
			<Parameter name="roll" value="0"/>
			<Parameter name="pitch" value="0"/>
			<Parameter name="yaw" value="0"/>
		</Shape>
	</Dimensions>

	<Devices>
		<DeviceBus id="rcm_bus0" type="Evolution.RCMBus">

			<!-- Motors -->
			<Device id="Drive_left" type="Evolution.RCMMotor">
				<Parameter name="address" value="1:0"/>
				<Parameter name="power_output" value="45"/>
				<Parameter name="position_factor" value="-1711"/>
				<Parameter name="cycle_time" value="150E-6"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="0"/>
				<Parameter name="y" value="19"/>
				<Parameter name="z" value="0"/>
			</Device>
			<Device id="Drive_right" type="Evolution.RCMMotor">
				<Parameter name="address" value="0:0"/>
				<Parameter name="power_output" value="45"/>
				<Parameter name="position_factor" value="1711"/>
				<Parameter name="cycle_time" value="150E-6"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="0"/>
				<Parameter name="y" value="-19"/>
				<Parameter name="z" value="0"/>
			</Device>

  			<!-- Battery -->
			<Device id="Battery" type="Evolution.RCMBattery">
				<Parameter name="address" value="1:7" />
				<Parameter name="max_voltage" value="12.4" />
				<Parameter name="voltage_floor" value="10.5" />
				<Parameter name="voltage_multiplier" value="3.12766" />
				<Parameter name="voltage_output_eps" value="0" />
			</Device>
		</DeviceBus>

		<!-- IR sensors -->
<!-- Uncomment to use the ER1 IR sensor accessory. -->
		<DeviceBus id="UsbHID" type="Evolution.USB">
			<Parameter name="device_index" value="0"/>

                        <!-- Front right -->
			<Device id="IR_tne" type="Evolution.USBIrSensor">
				<Parameter name="address" value="0"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-10"/>
				<Parameter name="y" value="-20"/>
				<Parameter name="z" value="22"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="-pi/4"/>
			</Device>

			<!-- Front -->
			<Device id="IR_tn" type="Evolution.USBIrSensor">
				<Parameter name="address" value="1"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-15"/>
				<Parameter name="y" value="0"/>
				<Parameter name="z" value="40"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="0"/>
			</Device>

			<!-- Front left -->
			<Device id="IR_tnw" type="Evolution.USBIrSensor">
				<Parameter name="address" value="2"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-10"/>
				<Parameter name="y" value="20"/>
				<Parameter name="z" value="22"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="pi/4"/>
			</Device>
		</DeviceBus>

<!-- Uncomment these IRs if you have second set. -->
<!--
		<DeviceBus id="UsbHID2" type="Evolution.USB">
		        <Parameter name="device_index" value="1"/>

			<Device id="IR_tse" type="Evolution.USBIrSensor">
				<Parameter name="address" value="1"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-30"/>
				<Parameter name="y" value="0"/>
				<Parameter name="z" value="22"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="-5*pi/6"/>
			</Device>
			<Device id="IR_tn2" type="Evolution.USBIrSensor">
				<Parameter name="address" value="0"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-10"/>
				<Parameter name="y" value="0"/>
				<Parameter name="z" value="10"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="0"/>
			</Device>
			<Device id="IR_tsw" type="Evolution.USBIrSensor">
				<Parameter name="address" value="2"/>
				<Parameter name="link" value="origin"/>
				<Parameter name="x" value="-30"/>
				<Parameter name="y" value="0"/>
				<Parameter name="z" value="22"/>
				<Parameter name="roll" value="0"/>
				<Parameter name="pitch" value="0"/>
				<Parameter name="yaw" value="5*pi/6"/>
			</Device>
		</DeviceBus>
-->

	</Devices>

	<Groups>
		<Group id="drive" type="Evolution.Diff2Drive">
			<Member member_id = "Drive_left"/>
			<Member member_id = "Drive_right"/>
		</Group>
		<Group id="odometry" type="Evolution.Diff2Odometry">
			<Parameter name="polling_interval" value="50"/>
			<Member member_id = "Drive_left"/>
			<Member member_id = "Drive_right"/>
		</Group>
	</Groups>

</Resources>
