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buzz_kh4 [2019/03/31 19:39] ilpincy [Sensors] 
buzz_kh4 [2019/04/05 13:31] (current) ilpincy [Actuators] 
* **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 righthand 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 righthand 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. 
* **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 0255 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 0255 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. 