Adding a servo wheel

Author: madhephaestus

defaultFixedServo.xml

@@ -0,0 +1,86 @@
+<root>
+<appendage>
+
+<name>wheel</name>
+<cadEngine>
+<git>https://github.com/madhephaestus/VexVitaminsRobot.git</git>
+<file>VexVitaminsRobotCad.groovy</file>
+</cadEngine>
+<kinematics>
+<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
+<file>DefaultDhSolver.groovy</file>
+</kinematics>
+<link>
+<name>wheel</name>
+<deviceName>virtualDev</deviceName>
+<type>virtual</type>
+<index>0</index>
+<scale>1.0</scale>
+<upperLimit>1000000.0</upperLimit>
+<lowerLimit>-1000000.0</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>145.0</indexLatch>
+<isStopOnLatch>false</isStopOnLatch>
+<homingTPS>10000000</homingTPS>
+
+<passive>false</passive>
+<mass>0.01</mass>
+<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>
+<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>0.0</Delta>
+<Theta>0.0</Theta>
+<Radius>52.0</Radius>
+<Alpha>0.0</Alpha>
+</DHParameters>
+
+</link>
+
+<ZframeToRAS
+>
+<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>
+
+</ZframeToRAS>
+
+<baseToZframe>
+
+<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>
+</root>

limbOptions.json

@@ -32,6 +32,17 @@
 batteryPeakWatt:1.28
 }
 },
+{
+name:"Servo Fixed Wheel",
+type:wheel,
+url:"https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git", 
+file:"defaultFixedServo.xml",
+consumes:{
+servoChannels:2,
+voltages:[3.7,5,6],
+batteryPeakWatt:1.28
+}
+},
 {
 name:"Vex Fixed Wheel",
 type:wheel,