buzz_kh4

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
buzz_kh4 [2019/03/31 19:39]
ilpincy [Sensors]
buzz_kh4 [2019/04/05 13:31] (current)
ilpincy [Actuators]
Line 11: Line 11:
   * **Wheels**   * **Wheels**
  
-    * ''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.
  
-    * ''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.
  
-    * ''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.
  
     * To activate this actuator in ARGoS, use the ''differential_drive'' actuator.     * To activate this actuator in ARGoS, use the ''differential_drive'' actuator.
Line 21: Line 21:
   * **LEDs**   * **LEDs**
  
-    * ''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).
  
     * To activate this actuator in ARGoS, use the ''leds'' actuator.     * To activate this actuator in ARGoS, use the ''leds'' actuator.
  • buzz_kh4.txt
  • Last modified: 2019/04/05 13:31
  • by ilpincy