Accelerometer

This sensor emulates an Accelerometer/Podometer, measuring the distance that a robot has moved, the current speed and current acceleration. Measurements are done for the 3 axes (X, Y, Z) for velocity and acceleration. The values for velocity and acceleration are measured at each tic of the Game Engine, measuring the difference in distance from the previous tic, and the estimated time between tics (60 tics per second is the default in Blender).

Configuration parameters for Accelerometer

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

  • ComputationMode (string, default: "Automatic")

    Kind of computation, can be one of [‘Velocity’, ‘Position’]. Only robot with dynamic and Velocity control can choose Velocity computation. Default choice is Velocity for robot with physics, and Position for others

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of seconds in simulated time

  • distance (float, initial value: 0.0)

    distance travelled since the last tick, in meter

  • velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    Instantaneous speed in X, Y, Z, in meter sec^-1

  • acceleration (vec3<float>, initial value: [0.0, 0.0, 0.0])

    Instantaneous acceleration in X, Y, Z, in meter sec^-2

Interface support:

Services for Accelerometer

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • 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 sensor
accelerometer = Accelerometer()

# place your component at the correct location
accelerometer.translate(<x>, <y>, <z>)
accelerometer.rotate(<rx>, <ry>, <rz>)

robot.append(accelerometer)

# define one or several communication interface, like 'socket'
accelerometer.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.accelerometer.)

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