%% Tailobatic Varbiable initialisation

if exist('tmax','var') ~= 1

plotting = true;

tmax = 2;

RollTime = 0.2;

PitchTime = 0.5;

PitchGoal = -pi/4;

end

Simulation.MaxRollRate = 2*pi*100;

Simulation.MaxPitchRate = 2*pi*100;

%% For Squirrel Robot, use:

%

% Robot.TailMass = 30e-3;

% Robot.TailLength = 120e-3;

% Robot.TailDiameter = 5e-3;

%

% Robot.BodyMass = 135e-3;

% Robot.BodyLength = 100e-3;

% Robot.BodyWidth = 40e-3;

% Robot.BodyThickness = 10e-3;

% Robot.Body = [Robot.BodyLength

% Robot.BodyWidth

% Robot.BodyThickness];

%

% Robot.AeroSpring = 1e-4; % Nm/deg

% Robot.AeroDamp = 5e-5; % Nm/deg/s

%% For Gecko, use:

Robot.TailMass = 1.2*0.29e-3;

Robot.TailLength = 1.2*54e-3;

Robot.TailDiameter = 4e-3*2;

Robot.TailCone = [0, 0; Robot.TailDiameter/2, 0; 0, Robot.TailLength];

Robot.RearLegLength = 9.0e-3 8.6e-3;

Robot.RearLegWidth = ((5.9e-3^2 2.8e-3^2)/2)^0.5;

Robot.RearLegMass = 0.19e-3;

Robot.ForeLegLength = 7.6e-3 7.5e-3;

Robot.ForeLegWidth = ((3.1e-3^2 2.8e-3^2)/2)^0.5;

Robot.ForeLegMass = 0.098e-3;

Robot.BodyMass = 2.9e-3;

Robot.BodyLength = 54e-3;

Robot.BodyWidth = 4.2e-3*2;

Robot.BodyThickness = 3.7e-3*2;

Robot.Body = [Robot.BodyLength

Robot.BodyWidth

Robot.BodyThickness];

%% External 'Aero' forces - multiply by zero to turn off

Robot.AeroSpring = 5e-7; % Nm/deg

Robot.AeroDamp = 5e-8; % Nm/deg/s

%% Motors

GainScF = 5e-1;

Robot.RollP = 2*GainScF;

Robot.RollI = 0.1*GainScF;

Robot.RollD = 0.04*GainScF;

Robot.PitchP = Robot.RollP;

Robot.PitchI = Robot.RollI;

Robot.PitchD = Robot.RollD;