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buzz_kh4 [2019/03/31 19:39] – [Sensors] ilpincy | buzz_kh4 [2019/04/05 13:31] (current) – [Actuators] ilpincy |
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* **Wheels** | * **Wheels** |
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* ''set_wheels(lws,rws)'' sets the speed of the wheels to ''lws'' (left wheel speed) and ''rws'' (right wheel speed). The speed is expressed in cm/sec. The maximum speed of the real Khepera is about 20 cm/sec. | * ''set_wheels(lws,rws)'' sets the speed of the wheels to ''lws'' (left wheel speed) and ''rws'' (right wheel speed). The speed is expressed in cm/sec. The maximum speed of the real Khepera is about 20 cm/sec. ''lws,rws'' must be floating point values. |
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* ''gotop(ls,as)'' sets the speed of the center of mass of the robot. The speed is expressed as a vector in polar coordinates, where ''ls'' is the linear speed (i.e., the forward speed, in cm/sec) and ''as'' is the angular speed (i.e., in rad/sec). The vector is internally transformed into wheel actuation. | * ''gotop(ls,as)'' sets the speed of the center of mass of the robot. The speed is expressed as a vector in polar coordinates, where ''ls'' is the linear speed (i.e., the forward speed, in cm/sec) and ''as'' is the angular speed (i.e., in rad/sec). The vector is internally transformed into wheel actuation. ''ls,as'' must be floating point values. |
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* ''gotoc(sx,sy)'' sets the speed of the center of mass of the robot. The speed is expressed as a vector in cartesian coordinate, where ''sx'' is the linear speed along the local x axis of the robot (i.e., the forward speed, in cm/sec) and ''sy'' is the linear speed along the local y axis of the robot (a vector pointing left, according to the right-hand rule). The vector is internally transformed into wheel actuation. | * ''gotoc(sx,sy)'' sets the speed of the center of mass of the robot. The speed is expressed as a vector in cartesian coordinate, where ''sx'' is the linear speed along the local x axis of the robot (i.e., the forward speed, in cm/sec) and ''sy'' is the linear speed along the local y axis of the robot (a vector pointing left, according to the right-hand rule). The vector is internally transformed into wheel actuation. ''sx,sy'' must be floating point values. |
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* To activate this actuator in ARGoS, use the ''differential_drive'' actuator. | * To activate this actuator in ARGoS, use the ''differential_drive'' actuator. |
* **LEDs** | * **LEDs** |
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* ''set_leds(r,g,b)'' sets the color of the three LEDs on top of the Khepera IV. The color is expressed with 0-255 values for each of the channels (red, green, blue). | * ''set_leds(r,g,b)'' sets the color of the three LEDs on top of the Khepera IV. The color is expressed with 0-255 integer values for each of the channels (red, green, blue). |
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* To activate this actuator in ARGoS, use the ''leds'' actuator. | * To activate this actuator in ARGoS, use the ''leds'' actuator. |