Motion controller using linear and angular speeds
This actuator reads the values of linear and angular speed and applies them to the robot as direct translation. The speeds provided are internally adjusted to the Blender time measure.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Kind of control, can be one of [‘Velocity’, ‘Position’]
This actuator reads these datafields at each simulation step:
linear velocity in x direction (forward movement) (m/s)
angular velocity (rad/s)
Returns the configurations of a component (parsed from the properties).
a dictionary of the current component’s configurations
Returns the properties of a component.
a dictionary of the current component’s properties
Modifies v and w according to the parameters
Stop the robot
Internally, it sets (v, w) to (0.0, 0.0)
The following examples show how to use this component in a Builder script:
from morse.builder import * robot = ATRV() # creates a new instance of the actuator motionvw = MotionVW() # place your component at the correct location motionvw.translate(<x>, <y>, <z>) motionvw.rotate(<rx>, <ry>, <rz>) robot.append(motionvw) # define one or several communication interface, like 'socket' motionvw.add_interface(<interface>) env = Environment('empty')