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buzz_kh4 [2018/03/21 00:14]
root
buzz_kh4 [2019/04/05 13:31]
ilpincy [Actuators]
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   * **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 right-hand 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 right-hand 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.
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   * **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 0-255 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 0-255 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.
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   * **Light sensors**   * **Light sensors**
-    * The Khepera IV proximity ​sensor is a set of 8 infrared emitter/​receiver pairs distributed regularly in a ring around the robot. The sensors are numbered 0 to 7. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above.+    * The Khepera IV light sensor is a set of 8 infrared emitter/​receiver pairs distributed regularly in a ring around the robot. The sensors are numbered 0 to 7. Sensor 0 looks straight ahead, and the numbers increase counterclockwise when looking at the robot from above.
     * ''​light''​ is the Buzz table that contains the light readings. Each element of this table (e.g., ''​light[0]'',​ ''​light[1]'',​ ...) is in turn a table that contains two elements:     * ''​light''​ is the Buzz table that contains the light readings. Each element of this table (e.g., ''​light[0]'',​ ''​light[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       * ''​angle'',​ which corresponds to the angle (expressed in radians) at which the sensor is located on the body of the robot