function robot2(x,y,teta)

#-- Robot parameters
r=60;    #-- Wheels diameter (mm)
l=85/2;  #-- Distance between the com and the wheel (mm)

c=cos(teta);
s=sin(teta);
T=[ c, -s, 0 x;
    s,  c, 0 y;
    0,  0, 1 0;
    0   0  0 1
];

P1 = T*[-r/2 l    0  1]';
P2 = T*[r/2  l    0  1]';
P3 = T*[r/2  l/3  0  1]';
P4 = T*[r/2+l/3    0    0  1]'; 
P5 = T*[r/2  -l/3 0  1]'; 
P6 = T*[r/2  -l   0  1]'; 
P7 = T*[-r/2 -l   0  1]'; 

x_chasis = [P1(1) P2(1) P3(1) P4(1) P5(1) P6(1) P7(1) P1(1)];
y_chasis = [P1(2) P2(2) P3(2) P4(2) P5(2) P6(2) P7(2) P1(2)];

#-- Draw the robot
plot(x_chasis,y_chasis,"-");

#-- Set other atributes
axis([0 500 -250 250],"equal");
grid ("on");
#axis("off");

