Accelerometer

This sensor emulates an Accelerometer/Podometer, measuring the distance that a robot has moved, the current speed and current acceleration. Measurements are done for the 3 axes (X, Y, Z) for velocity and acceleration. The values for velocity and acceleration are measured at each tic of the Game Engine, measuring the difference in distance from the previous tic, and the estimated time between tics (60 tics per second is the default in Blender).

Configuration parameters for accelerometer

No configurable parameter.

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of milliseconds in simulated time

  • distance (float, initial value: 0.0)

    distance travelled since the last tick, in meter

  • velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    Instantaneous speed in X, Y, Z, in meter sec^-1

  • acceleration (vec3<float>, initial value: [0.0, 0.0, 0.0])

    Instantaneous acceleration in X, Y, Z, in meter sec^-2

Interface support:

Services for Accelerometer

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

robot = ATRV()

# creates a new instance of the sensor
accelerometer = Accelerometer()

# place your component at the correct location
accelerometer.translate(<x>, <y>, <z>)
accelerometer.rotate(<rx>, <ry>, <rz>)

robot.append(accelerometer)

# define one or several communication interface, like 'socket'
accelerometer.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.accelerometer.)

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