Steer/Force Actuator

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.

Note

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.

Configuration parameters for Steer/Force Actuator

No configurable parameter.

Data fields

This actuator reads these datafields at each simulation step:

  • steer (float, initial value: 0.0)

    Angle of the wheels with respect to the vehicle (in radian)

  • force (float, initial value: 0.0)

    The force applied to the traction wheels. A negative force will make the vehicle move forward. A positive force will make it go backwards.

  • brake (float, initial value: 0.0)

    The force applied to the brake. It opposes to the force.

Interface support:

Services for Steer/Force 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
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')

Other sources of examples

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