function [L,r,rth] = omni_params

% Define all dimensions in a SINGLE FILE, to be used by many other
% functions.


L = .088; % New configuration has wheels at about 155mm from one another,
% (i.e. side length for an equilateral triangle)
% Below was the OLD estimate, for the larger omnibot.
%.146; % TO BE MEASURED. Distance from center of vehicle to center of wheel
r=.032; % Dimensions of wheel. wheel radius - same on old and new configs
rth=.03; % "thickness" of wheel

