Motion controller using engine force and steer angle speeds
This actuator reads the values of the steering angle, the engine power and the braking force to drive a car like vehicle. It is meant to work with robots implementing the Blender Vehicle Wrapper, such as the Hummer robot.
Robots implementing the Vehicle Wrapper must be pointing towards their local Y axis. This means the robots will be oriented differently with respect to all other MORSE components.
No configurable parameter.
This actuator reads these datafields at each simulation step:
Angle of the wheels with respect to the vehicle (in radian)
The force applied to the traction wheels. A negative force will make the vehicle move forward. A positive force will make it go backwards.
The force applied to the brake. It opposes to the force.
Returns the properties of a component.
a dictionary of the current component’s properties
Modify one property on a component
Returns the configurations of a component (parsed from the properties).
a dictionary of the current component’s configurations
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 steerforce = SteerForce() # place your component at the correct location steerforce.translate(<x>, <y>, <z>) steerforce.rotate(<rx>, <ry>, <rz>) robot.append(steerforce) # define one or several communication interface, like 'socket' steerforce.add_interface(<interface>) env = Environment('empty')