Linear and angular speed (Vx, Vy, W) actuator

This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements.

The speeds provided are internally adjusted to the Blender time measure, following the formula: blender_speed = given_speed * tics, where tics is the number of times the code gets executed per second. The default value in Blender is tics = 60.

Files

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

Local data

  • x: (float) linear velocity in x direction (forward movement)
  • y: (float) linear velocity in y direction (sidewards movement)
  • w: (float) angular velocity

Applicable modifiers

No available modifiers

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