Keyboard Actuator

A ‘fake’ actuator that allows to move a robot from the keyboard.

This actuator does not require a connection with external data. It simply responds to the keyboard arrows to generate movement instructions for the robot attached.

When parented to a robot, the user can press the arrow keys to modify the linear and angular velocities (V, W) of the robot.

Up forward Down backwards Left turn/yaw left Right turn/yaw right I pitch forward K pitch backward L roll left M roll right U strafe left O strafe right T move up G move down

Configuration parameters for Keyboard Actuator

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

  • ControlType (string, default: "Position")

    Kind of control to move the parent robot, in [‘Position’, ‘Velocity’, ‘Differential’]

  • Speed (float, default: 1.0)

    Movement speed of the parent robot, in m/s

Data fields

No data field documented (see above for possible notes).

Services for Keyboard Actuator

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • set_property(prop_name, prop_val) (blocking)

    Modify one property on a component

    • Parameters

      • prop_name: the name of the property to modify (as shown the documentation)
      • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful
    • Return value

      nothing

  • get_configurations() (blocking)

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

    • Return value

      a dictionary of the current component’s configurations

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the actuator
keyboard = Keyboard()
robot.append(keyboard)

env = Environment('empty')

# Run this simulation: you can move the robot with the arrow keys.

Other sources of examples

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

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