Pan-Tilt Unit actuator

This actuator reads the rotation values for pan and tilt, and applies them to the pan-tilt unit that must be set as children of this actuator. Angles are expected in radians.

Unlike most other actuators, the Pan-Tilt unit is composed not only of an Empty object, but it also includes two meshes. These are the PanBase and the TiltBase that must also be imported when using this actuator. These meshes will rotate to produce the effect of a real Pan-Tilt unit.

Note

When mounting a camera or stereo unit on top of the Pan-Tilt unit, make sure to parent the camera to the PTU object.

This component can be configured to be operated manually as well as through data from a middleware. When using manual mode, the pan and tilt segments can be rotated using the following keys:

  • Page Up tilt up
  • Page Down tilt down
  • Home pan left
  • Insert pan right

Files

  • Blender: $MORSE_ROOT/data/actuators/ptu.blend
  • Python: $MORSE_ROOT/src/morse/actuators/ptu.py

Local data

  • pan: (float) rotation around the Z axis
  • tilt: (float) rotation around the Y axis

Configurable parameters

  • Speed: (float) rotation speed for the movements of the pan-tilt unit. Default value is 1 radian/s
  • Tolerance: (float) the accepted error between the angle of each segment and the one specified. If set too low, the actuator will jump back and forth between positions close to those indicated. Default value is 0.005 radians
  • Manual: (boolean) select whether to use control from an external program or direct control using the Logic Bricks

Services

  • set_pan_tilt: (asynchronous service) Receives as parameters the expected pan and tilt angles (in radians) and finishes when the actuator is effectively at this position.

    Parameters

    pan

    float

    tilt

    float

    Parameters: (pan, tilt)

  • get_pan_tilt: (synchronous service) Returns the current angles of the pan and tilt segments (in radians).

Applicable modifiers

No available modifiers

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