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| buzz_kh4 [2018/03/21 00:08] – root | buzz_kh4 [2018/03/21 00:14] – root |
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| light saturates the sensor. Values between 0 and 1 depend on the distance of the perceived light. In ARGoS, each reading ''R'' is calculated with ''%%R=(I/x)^2%%'', where ''x'' is the distance between a sensor and the light, and ''I'' is the reference intensity of the perceived light. The reference intensity corresponds to the minimum distance at which the light saturates a sensor. | light saturates the sensor. Values between 0 and 1 depend on the distance of the perceived light. In ARGoS, each reading ''R'' is calculated with ''%%R=(I/x)^2%%'', where ''x'' is the distance between a sensor and the light, and ''I'' is the reference intensity of the perceived light. The reference intensity corresponds to the minimum distance at which the light saturates a sensor. |
| * To activate this sensor in ARGoS, use the ''kheperaiv_light'' sensor. | * To activate this sensor in ARGoS, use the ''kheperaiv_light'' sensor. |
| | |
| | * **Ultrasound sensors** |
| | * The Khepera IV ultrasound sensor is a set of 5 emitter/receiver pairs distributed regularly in an arc in front of the robot. The sensors are numbered 0 to 4. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above. |
| | * ''ultrasound'' is the Buzz table that contains the ultrasound readings. Each element of this table (e.g., ''ultrasound[0]'', ''ultrasound[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 |
| | * ''value'', which is the actual distance of the detected obstacle in cm. Each individual sensor is saturated by objects closer than 25 cm; the maximum range of the sensor is 200 cm. |
| | * To activate this sensor in ARGoS, use the ''kheperaiv_ultrasound'' sensor. |
| | |
| | * **LIDAR sensor** |
| | * The Khepera IV LIDAR sensor returns 682 readings in a 270 degrees arc (if not configured to return less readings in the ''.argos'' file). |
| | * ''lidar'' is the Buzz table that contains the LIDAR readings. Each element of this table (e.g., ''lidar[0]'', ''lidar[1]'', ...) is the distance of the object detected by a specific laser beam. |
| | * To activate this sensor in ARGoS, use the ''kheperaiv_lidar'' sensor. |
| |
| * **Battery sensor** | * **Battery sensor** |