Battery Sensor


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.

Configuration parameters for battery sensor

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

  • DischargingRate (float, default: 0.05)

    Battery discharging rate, in percent per seconds

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of milliseconds in simulated time

  • charge (float, initial value: 100.0)

    Initial battery level, in percent

Interface support:

Services for Battery Sensor

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • get_configurations() (blocking)

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

    • Return value

      a dictionary of the current component’s configurations

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties


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

from morse.builder import *

robot = ATRV()

# 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>)


# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

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

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