PCB schemas

7 files changed, 89 insertions, 21 deletions

diff --git a/simulation/protos/Ball.proto b/simulation/protos/Ball.proto
index c992189..14726f1 100644
--- a/simulation/protos/Ball.proto
+++ b/simulation/protos/Ball.proto
@@ -18,11 +18,9 @@ PROTO Ball [
   field SFFloat    angularDamping  0.33           # Defines the angular damping of the ball.
   field SFString   contactMaterial "default"      # Is `Solid.contactMaterial`.
 ]
-{
-  Solid {
+Robot {
     translation IS translation
     rotation IS rotation
-    children [
       DEF BALL_SHAPE Shape {
         appearance PBRAppearance {
             baseColor IS color
diff --git a/simulation/protos/BallCandy.proto b/simulation/protos/BallCandy.proto
new file mode 100644
index 0000000..08438fc
--- /dev/null
+++ b/simulation/protos/BallCandy.proto
@@ -0,0 +1,38 @@
+#VRML_SIM R2024a utf8
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/BallCandy.proto
+# keywords: robot/accessory
+
+PROTO BallCandy [
+  field SFVec3f translation 0 0 0.0162
+  field SFRotation rotation 0 0 1 0
+  field SFString name "ball candy"
+  field SFColor color 0.9 0.1 0.1
+]
+{
+Solid {
+  translation IS translation
+  rotation IS rotation
+  children [
+    Shape {
+      appearance PBRAppearance {
+        baseColor IS color
+        roughness 0.3
+        metalness 0
+      }
+      geometry DEF CANDY_BALL_SHAPE Sphere {
+        radius 0.0325
+        subdivision 3
+      }
+    }
+  ]
+  name IS name
+  model "ball candy"
+  boundingObject USE CANDY_BALL_SHAPE
+  physics Physics {
+    density -1
+    mass 0.16
+  }
+}
+}
diff --git a/simulation/protos/field.proto b/simulation/protos/field.proto
deleted file mode 100644
index aa96ff5..0000000
--- a/simulation/protos/field.proto
+++ /dev/null
@@ -1,13 +0,0 @@
-#VRML_SIM R2023b utf8
-# Describe the functionality of your PROTO here.
-
-
-PROTO field [
-  field SFBool castShadows TRUE
-]
-{
-  CadShape {
-    castShadows IS castShadows
-    url "/home/atim/Documenten/robotica/3dfiles/soccerfield.obj"
-  }
-}
diff --git a/simulation/protos/icons/BallCandy.png b/simulation/protos/icons/BallCandy.png
new file mode 100644
index 0000000..6a3a0a1
--- /dev/null
+++ b/simulation/protos/icons/BallCandy.png
diff --git a/simulation/protos/soccer_ball.proto b/simulation/protos/soccer_ball.proto
new file mode 100644
index 0000000..629df1a
--- /dev/null
+++ b/simulation/protos/soccer_ball.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2024a utf8
+# Describe the functionality of your PROTO here.
+
+EXTERNPROTO "/home/abel/Documents/robotica/simulation/protos/Ball.proto"
+
+PROTO soccer_ball [
+  field SFVec3f translation 0 0 0.1625
+  field SFRotation rotation 0 0 1 0
+  field SFString name "soccer_ball"
+  field SFString controller ""
+]
+{
+  Ball {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    children [
+      Emitter {
+        channel 1  # Assign an appropriate channel number
+        range -1   # Setting range to -1 makes it unlimited
+        aperture 6.28319  # 2 * PI radians for omnidirectional
+        beamWidth 6.28319 # 2 * PI radians for omnidirectional
+        dataSize 1  # Size of the data packet
+        dataRate 1  # Rate of data emission in bits per second
+      }
+    ]
+    controller IS controller
+  }
+}
diff --git a/simulation/protos/soccerballrbc.proto b/simulation/protos/soccerballrbc.proto
new file mode 100644
index 0000000..7a744d0
--- /dev/null
+++ b/simulation/protos/soccerballrbc.proto
@@ -0,0 +1,16 @@
+#VRML_SIM R2024a utf8
+# Describe the functionality of your PROTO here.
+
+
+PROTO soccerballrbc [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "emitter"
+]
+{
+  Emitter {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+  }
+}
diff --git a/simulation/protos/three_omniwheel.proto b/simulation/protos/three_omniwheel.proto
index 14f3f61..7643587 100644
--- a/simulation/protos/three_omniwheel.proto
+++ b/simulation/protos/three_omniwheel.proto
@@ -731,12 +731,12 @@ DEF OMNI_WHEELS Robot {
       }
     }
     Camera {
-      translation 0 0 5
-      rotation 0 1 0 1.5708
-      fieldOfView 3.14
+      translation 0 0 2
+      fieldOfView 0.5
       width 640
-      height 640
-      projection "spherical"
+      height 480
+      exposure 1.0
+      projection "planar"
     }
     DEF BODY_TRANS Pose {
       translation 0 0 0.03