This sensor emulates the remaining charge of a battery on the robot. It is meant to be used only as an informative measure, to be taken in consideration by the planning algorithms. It does not prevent the robot from working.
The charge of the battery decreases with time, using a predefined Discharge rate specified as a property of the Blender object. This rate is independent of the actions performed by the robot, and only dependant on the time elapsed since the beginning of the simulation.
If the battery enters in a Charging zone, the battery will gradually recharge.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Battery discharging rate, in percent per seconds
This sensor exports these datafields at each simulation step:
number of seconds in simulated time
Initial battery level, in percent
Returns the properties of a component.
a dictionary of the current component’s properties
Returns the current data stored in the sensor.
a dictionary of the current sensor’s data
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 sensor battery = Battery() # place your component at the correct location battery.translate(<x>, <y>, <z>) battery.rotate(<rx>, <ry>, <rz>) robot.append(battery) # define one or several communication interface, like 'socket' battery.add_interface(<interface>) env = Environment('empty')