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:
socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)moos
as MotionReader (morse.middleware.moos.motion.MotionReader
)
Services for Steer/Force Actuator¶
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
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
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.)