Keyboard Actuator¶
A ‘fake’ actuator that allows to move a robot from the keyboard.
This actuator does not require a connection with external data. It simply responds to the keyboard arrows to generate movement instructions for the robot attached.
When parented to a robot, the user can press the arrow keys to modify the linear and angular velocities (V, W) of the robot.
Up
forward
Down
backwards
Left
turn/yaw left
Right
turn/yaw right
I
pitch forward
K
pitch backward
L
roll left
M
roll right
U
strafe left
O
strafe right
T
move up
G
move down
Configuration parameters for Keyboard Actuator¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
ControlType
(string, default:"Position"
)Kind of control to move the parent robot, in [‘Position’, ‘Velocity’, ‘Differential’]
Speed
(float, default:1.0
)Movement speed of the parent robot, in m/s
Data fields¶
No data field documented (see above for possible notes).
Services for Keyboard Actuator¶
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
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
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the actuator
keyboard = Keyboard()
robot.append(keyboard)
env = Environment('empty')
# Run this simulation: you can move the robot with the arrow keys.
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.keyboard.)