Source code for morse.actuators.keyboard

import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
from morse.core.actuator import Actuator
from morse.helpers.components import add_data, add_property

[docs]class Keyboard(Actuator): """ This actuator does not require a connection with external data. It simply responds to the keyboard arrows to generate movement instructions for the robot attached. When parented to a robot, the user can press the arrow keys to modify the linear and angular velocities (V, W) of the robot. :kbd:`Up` forward :kbd:`Down` backwards :kbd:`Left` turn/yaw left :kbd:`Right` turn/yaw right :kbd:`I` pitch forward :kbd:`K` pitch backward :kbd:`L` roll left :kbd:`M` roll right :kbd:`U` strafe left :kbd:`O` strafe right :kbd:`T` move up :kbd:`G` move down .. example:: from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the actuator keyboard = Keyboard() robot.append(keyboard) env = Environment('empty') # Run this simulation: you can move the robot with the arrow keys. :noautoexample: """ _name = "Keyboard Actuator" _short_desc="A 'fake' actuator that allows to move a robot from the keyboard." add_property('_type', 'Position', 'ControlType', 'string', "Kind of control to move the parent robot, in ['Position', " "'Velocity', 'Differential']") add_property('_speed', 1.0, 'Speed', 'float', "Movement speed of the parent robot, in m/s") def __init__(self, obj, parent=None):'%s initialization' % # Call the constructor of the parent class Actuator.__init__(self, obj, parent) # Correct the speed considering the Blender clock if self._type == 'Position': self._speed = self._speed / self.frequency self.zero_motion = True'Component initialized')
[docs] def default_action(self): """ Interpret keyboard presses and assign them to movement for the robot.""" keyboard = blenderapi.keyboard() is_actived = blenderapi.input_active() # Reset movement variables vx, vy, vz = 0.0, 0.0, 0.0 rx, ry, rz = 0.0, 0.0, 0.0 # move forward if[blenderapi.UPARROWKEY] == is_actived: vx = self._speed # move backward if[blenderapi.DOWNARROWKEY] == is_actived: vx = -self._speed # turn left if[blenderapi.LEFTARROWKEY] == is_actived: rz = self._speed # turn right if[blenderapi.RIGHTARROWKEY] == is_actived: rz = -self._speed # move up if[blenderapi.TKEY] == is_actived: vz = self._speed # move down if[blenderapi.GKEY] == is_actived: vz = -self._speed # strafe left if[blenderapi.UKEY] == is_actived: vy = self._speed # strafe right if[blenderapi.OKEY] == is_actived: vy = -self._speed # roll left if[blenderapi.JKEY] == is_actived: rx = -self._speed # roll right if[blenderapi.LKEY] == is_actived: rx = self._speed # pitch forward if[blenderapi.IKEY] == is_actived: ry = self._speed # pitch backward if[blenderapi.KKEY] == is_actived: ry = -self._speed # Send a 'zero motion' only once in a row. if self.zero_motion and (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0): return if self._type == 'Position' or self._type == 'Velocity': self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz / 2.0]) elif self._type == 'Differential': self.robot_parent.apply_vw_wheels(vx, rz) if (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0): self.zero_motion = True else: self.zero_motion = False