Linear and angular speed (Vx, Vy, W) actuator

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.

Configuration parameters for linear and angular speed (vx, vy, w) actuator

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • ControlType (string, default: "Velocity")

    Kind of control, can be one of [‘Velocity’, ‘Position’]

Data fields

This actuator reads these datafields at each simulation step:

  • x (float, initial value: 0.0)

    linear velocity in x direction (forward movement) (m/s)

  • y (float, initial value: 0.0)

    linear velocity in y direction (sidewards movement) (m/s)

  • w (float, initial value: 0.0)

    angular velocity (rad/s)

Interface support:

Services for Linear and angular speed (Vx, Vy, W) actuator

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

Examples

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')

Other sources of examples

(This page has been auto-generated from MORSE module morse.actuators.xy_omega.)