Motion controller using linear and angular speeds
This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements.
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)
linear velocity in y direction (sidewards 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
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 motionxyw = MotionXYW() # place your component at the correct location motionxyw.translate(<x>, <y>, <z>) motionxyw.rotate(<rx>, <ry>, <rz>) robot.append(motionxyw) # define one or several communication interface, like 'socket' motionxyw.add_interface(<interface>) env = Environment('empty')