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buzz_kh4 [2018/03/21 00:14] root |
buzz_kh4 [2019/04/05 13:31] (current) ilpincy [Actuators] |
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| * **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. | ||
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| * **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. | ||
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| * **Light sensors** | * **Light sensors** | ||
| - | * The Khepera IV proximity sensor is a set of 8 infrared emitter/receiver pairs distributed regularly in a ring around the robot. The sensors are numbered 0 to 7. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above. | + | * The Khepera IV light sensor is a set of 8 infrared emitter/receiver pairs distributed regularly in a ring around the robot. The sensors are numbered 0 to 7. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above. |
| * ''light'' is the Buzz table that contains the light readings. Each element of this table (e.g., ''light[0]'', ''light[1]'', ...) is in turn a table that contains two elements: | * ''light'' is the Buzz table that contains the light readings. Each element of this table (e.g., ''light[0]'', ''light[1]'', ...) is in turn a table that contains two elements: | ||
| * ''angle'', which corresponds to the angle (expressed in radians) at which the sensor is located on the body of the robot | * ''angle'', which corresponds to the angle (expressed in radians) at which the sensor is located on the body of the robot | ||
