From 5ee3ebe7764d257fbe4837dd368fdf1f099bb825 Mon Sep 17 00:00:00 2001
From: WillB97 <will@rudi.org.uk>
Date: Sun, 14 Jul 2024 22:26:36 +0100
Subject: [PATCH] Add a third reflectance sensor

---
 simulator/modules/sbot_interface/setup.py      |  5 +++--
 simulator/protos/SRObot.proto                  | 11 +++++++++--
 simulator/protos/robot/ReflectanceSensor.proto |  2 +-
 3 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/simulator/modules/sbot_interface/setup.py b/simulator/modules/sbot_interface/setup.py
index 8b1dc22..e663b57 100644
--- a/simulator/modules/sbot_interface/setup.py
+++ b/simulator/modules/sbot_interface/setup.py
@@ -87,8 +87,9 @@ def setup_devices(log_level: int | str = logging.WARNING) -> SocketServer:
                 MicroSwitch('front right bump sensor'),  # pin 11
                 MicroSwitch('rear left bump sensor'),  # pin 12
                 MicroSwitch('rear right bump sensor'),  # pin 13
-                ReflectanceSensor('reflectance sensor 1'),  # pin A0
-                ReflectanceSensor('reflectance sensor 2'),  # pin A1
+                ReflectanceSensor('left reflectance sensor'),  # pin A0
+                ReflectanceSensor('center reflectance sensor'),  # pin A1
+                ReflectanceSensor('right reflectance sensor'),  # pin A2
             ],
             asset_tag='Arduino1',
         ),
diff --git a/simulator/protos/SRObot.proto b/simulator/protos/SRObot.proto
index eb565fd..1970cbc 100755
--- a/simulator/protos/SRObot.proto
+++ b/simulator/protos/SRObot.proto
@@ -131,12 +131,19 @@ PROTO SRObot [
             translation -0.12 -0.05 -0.008
           }
           ReflectanceSensor {
-            name "reflectance sensor 1"
+            name "left reflectance sensor"
             translation 0.03 0.02 -0.03
+            rotation 0 0 1 1.5708
           }
           ReflectanceSensor {
-            name "reflectance sensor 2"
+            name "center reflectance sensor"
+            translation 0.03 0 -0.03
+            rotation 0 0 1 1.5708
+          }
+          ReflectanceSensor {
+            name "right reflectance sensor"
             translation 0.03 -0.02 -0.03
+            rotation 0 0 1 1.5708
           }
           BumpSensor {
             name "front left bump sensor"
diff --git a/simulator/protos/robot/ReflectanceSensor.proto b/simulator/protos/robot/ReflectanceSensor.proto
index 5ea6d06..14c33a4 100755
--- a/simulator/protos/robot/ReflectanceSensor.proto
+++ b/simulator/protos/robot/ReflectanceSensor.proto
@@ -27,7 +27,7 @@ PROTO ReflectanceSensor [
                   metalness 0
                 }
                 geometry Box {
-                  size 0.002 0.045 0.02
+                  size 0.002 0.045 0.015
                 }
                 castShadows FALSE
               }