Linear and angular speed (V, W) actuator

This actuator reads the values of linear and angular speed and applies them to the robot as direct translation. 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/v_omega.blend
  • Python: $MORSE_ROOT/src/morse/actuators/v_omega.py

Local data

  • v: (float) linear velocity in meters per second
  • w: (float) angular velocity in radians per second

Services

  • set_speed: (synchronous service) Modifies v and w according to the parameters given.

    Parameters

    v

    float

    w

    float

    Parameters: (v, w)

  • stop: (synchronous service) Stop the robot (sets v and w to 0.0)

Applicable modifiers

No available modifiers

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