Update defaultFixed.xml

Author: madhephaestus

defaultFixed.xml

@@ -1,8 +1,10 @@
 <root>
-<appendage>
+<drivable>
+
+<name>wheel</name>
 <cadEngine>
-<git>https://gist.github.com/923d8296cab78c790206.git</git>
-<file>WheelCad.groovy</file>
+<git>https://github.com/madhephaestus/VexVitaminsRobot.git</git>
+<file>VexVitaminsRobotCad.groovy</file>
 </cadEngine>
 <kinematics>
 <git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
@@ -12,54 +14,108 @@
 <name>wheel</name>
 <deviceName>virtualDev</deviceName>
 <type>virtual</type>
-<index>1</index>
-<scale>0.33</scale>
-<upperLimit>1.0E8</upperLimit>
-<lowerLimit>-1.0E8</lowerLimit>
-<upperVelocity>1.0E8</upperVelocity>
-<lowerVelocity>-1.0E8</lowerVelocity>
-<staticOffset>128.0</staticOffset>
+<index>0</index>
+<scale>1.0</scale>
+<upperLimit>1000.0</upperLimit>
+<lowerLimit>-1000.0</lowerLimit>
+<upperVelocity>328.0</upperVelocity>
+<lowerVelocity>-328.0</lowerVelocity>
+<staticOffset>0.0</staticOffset>
+<deviceTheoreticalMax>2.147483647E9</deviceTheoreticalMax>
+<deviceTheoreticalMin>-2.147483648E9</deviceTheoreticalMin>
 <isLatch>true</isLatch>
-<indexLatch>145</indexLatch>
+<indexLatch>145.0</indexLatch>
 <isStopOnLatch>false</isStopOnLatch>
 <homingTPS>10000000</homingTPS>
+
+<vitamins>
+
+<vitamin>
+<name>shaft</name>
+<type>vexWheels</type>
+<id>4inchSmooth</id>
+<pose>
+<x>0.0</x>
+<y>0.0</y>
+<z>0.0</z>
+<rotw>1.0</rotw>
+<rotx>-0.0</rotx>
+<roty>-0.0</roty>
+<rotz>-0.0</rotz>
+</pose>
+<frame>origin</frame>
+</vitamin>
+
+<vitamin>
+<name>electroMechanical</name>
+<type>vexMotor</type>
+<id>393</id>
+<pose>
+<x>0.0</x>
+<y>0.0</y>
+<z>0.0</z>
+<rotw>1.0</rotw>
+<rotx>-0.0</rotx>
+<roty>-0.0</roty>
+<rotz>-0.0</rotz>
+</pose>
+<frame>lastlink</frame>
+</vitamin>
+
+</vitamins>
+<passive>false</passive>
 <mass>0.01</mass>
-<centerOfMassFromCentroid>	<x>0.0</x>
+<centerOfMassFromCentroid>
+<x>0.0</x>
 <y>0.0</y>
 <z>0.0</z>
 <rotw>1.0</rotw>
 <rotx>0.0</rotx>
 <roty>0.0</roty>
-<rotz>0.0</rotz></centerOfMassFromCentroid>
+<rotz>0.0</rotz>
+</centerOfMassFromCentroid>
+<imuFromCentroid>
+<x>0.0</x>
+<y>0.0</y>
+<z>0.0</z>
+<rotw>1.0</rotw>
+<rotx>-0.0</rotx>
+<roty>-0.0</roty>
+<rotz>-0.0</rotz>
+</imuFromCentroid>
 
 <DHParameters>
-<Delta>5.0</Delta>
-<Theta>90.0</Theta>
-<Radius>40.0</Radius>
+<Delta>0.0</Delta>
+<Theta>0.0</Theta>
+<Radius>52.0</Radius>
 <Alpha>0.0</Alpha>
 </DHParameters>
 
 </link>
 
 <ZframeToRAS
->	<x>0.0</x>
+>
+<x>0.0</x>
 <y>0.0</y>
 <z>0.0</z>
 <rotw>1.0</rotw>
-<rotx>0.0</rotx>
-<roty>0.0</roty>
-<rotz>0.0</rotz>
+<rotx>-0.0</rotx>
+<roty>-0.0</roty>
+<rotz>-0.0</rotz>
+
 </ZframeToRAS>
 
 <baseToZframe>
-<x>0</x>
-<y>0</y>
-<z>0</z>
-<rotw>1.5700924586837752E-16</rotw>
-<rotx>0.0</rotx>
-<roty>1.0606601717798212</roty>
-<rotz>1.0606601717798212</rotz>
+
+<x>58.2</x>
+<y>-12.599999999999998</y>
+<z>12.6</z>
+<rotw>0.5048458934646433</rotw>
+<rotx>0.5048458934646445</rotx>
+<roty>0.49510667926406</roty>
+<rotz>-0.4951066792640614</rotz>
+
 </baseToZframe>
 
-</appendage>
+</drivable>
 </root>