rover.xml

[<root>
	
	<link>
		<name>RotationTurretPlate</name>
		<type>pid</type>
		<index>0</index>
		<scale>.088</scale>
		<upperLimit>4096</upperLimit>
		<lowerLimit>-4096</lowerLimit>
		<isLatch>true</isLatch>
		<indexLatch>0</indexLatch>
		<isStopOnLatch>false</isStopOnLatch>	
		<homingTPS>500</homingTPS>
		<DHParameters>
		    <Delta>106.5</Delta>
		    <Theta>0</Theta>
		    <Radius>-12.7</Radius>
		    <Alpha>-90</Alpha>
		</DHParameters>	
	</link>
	<link>
		<name>firstTilt</name>
		<type>pid</type>
		<index>1</index>
		<scale>.088</scale>
		<upperLimit>4096</upperLimit>
		<lowerLimit>-4096</lowerLimit>
		<isLatch>true</isLatch>
		<indexLatch>0</indexLatch>
		<isStopOnLatch>false</isStopOnLatch>
		<homingTPS>500</homingTPS>
		<DHParameters>
		    <Delta>0</Delta>
		    <Theta>-90</Theta>
		    <Radius>476.25</Radius>
		    <Alpha>0</Alpha>
		</DHParameters>			
	</link>
	
	<link>
		<name>secondTilt</name>
		<type>pid</type>
		<index>2</index>
		<scale>.088</scale>
		<upperLimit>4096</upperLimit>
		<lowerLimit>-4096</lowerLimit>
		<isLatch>true</isLatch>
		<indexLatch>0</indexLatch>
		<isStopOnLatch>false</isStopOnLatch>
		<homingTPS>500</homingTPS>
		<DHParameters>
		    <Delta>0</Delta>
		    <Theta>90</Theta>
		    <Radius>419</Radius>
		    <Alpha>90</Alpha>
		</DHParameters>				
	</link>
	
	<link>
		<name>wristTwist</name>
		<type>pid</type>
		<index>3</index>
		<scale>.756</scale>
		<upperLimit>4096</upperLimit>
		<lowerLimit>-4096</lowerLimit>
		<isLatch>true</isLatch>
		<indexLatch>0</indexLatch>
		<isStopOnLatch>false</isStopOnLatch>	
		<homingTPS>500</homingTPS>
		<DHParameters>
		    <Delta>-168.25</Delta>
		    <Theta>0</Theta>
		    <Radius>0</Radius>
		    <Alpha>-90</Alpha>
		</DHParameters>			
	</link>
	
	<link>
		<name>cameraFrame</name>
		<type>pid</type>
		<index>4</index>
		<scale>.756</scale>
		<upperLimit>4096</upperLimit>
		<lowerLimit>-4096</lowerLimit>
		<isLatch>true</isLatch>
		<indexLatch>0</indexLatch>
		<isStopOnLatch>false</isStopOnLatch>	
		<homingTPS>500</homingTPS>
		<DHParameters>
		    <Delta>-168.25</Delta>
		    <Theta>0</Theta>
		    <Radius>0</Radius>
		    <Alpha>-90</Alpha>
		</DHParameters>			
	</link>
	
	

	
	<baseToZframe>
		<x>0</x>
		<y>0</y>
		<z>0</z>
		<rotw>1</rotw>
		<rotx>0</rotx>
		<roty>0</roty>
		<rotz>0</rotz>
	</baseToZframe>
</root>
, rover.xml]