... | @@ -10,14 +10,7 @@ A `Sensor` reads a `PhysicalValue` inside the vehicle and sends its value with t |
... | @@ -10,14 +10,7 @@ A `Sensor` reads a `PhysicalValue` inside the vehicle and sends its value with t |
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| `read_time` | s | Duration | Duration to read the value. | `10 ms` |
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| `read_time` | s | Duration | Duration to read the value. | `10 ms` |
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| `send_only_changed` | | Bool | Whether the sensor sends a message only when the read value has changed or not. | `false` |
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| `send_only_changed` | | Bool | Whether the sensor sends a message only when the read value has changed or not. | `false` |
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List of `PhysicalValues` available for sensing:
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The list of `PhysicalValues` available for sensing can be seen in the [PhysicalValues list](/user-docs/PhysicalValues-list).
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| Name | Description | [Unit](/user-docs/JSON-scenarios-reference#units) |
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| :---- | :--- | :--- |
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| `true_position` | Perfect read (unrealistic) of the car's position (at the center of mass). Directly copied from the car's internal rigidbody. | [m,m,m] |
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| `true_velocity` | Perfect read (unrealistic) of the car's velocity. Directly copied from the car's internal rigidbody. | km/h |
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| `true_compass` | Perfect read (unrealistic) of the car's orientation (on the XY plane, with 0 -> +X axis, counterclockwise). Directly copied from the car's internal rigidbody. | deg |
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| `battery_level` | For *Electric* power trains: Charge level of the battery. | % (0-100) |
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## Actuator Properties
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## Actuator Properties
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... | @@ -31,13 +24,7 @@ The actuator can also have a *feedback sensor* attached (`sensor` entry) which w |
... | @@ -31,13 +24,7 @@ The actuator can also have a *feedback sensor* attached (`sensor` entry) which w |
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| `change_rate` | Units/s | FP | Speed at which the actuator can change the physical value, in "units" per seconds. | |
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| `change_rate` | Units/s | FP | Speed at which the actuator can change the physical value, in "units" per seconds. | |
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| `sensor` | | `SensorProperties` | (**Optional**) If set, the actuator will send feedback for the current value. The `type` and `physical_value_name` entries of the `SensorProperties` are ignored here. | |
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| `sensor` | | `SensorProperties` | (**Optional**) If set, the actuator will send feedback for the current value. The `type` and `physical_value_name` entries of the `SensorProperties` are ignored here. | |
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List of `PhysicalValues` from the powertrain that can be actuated:
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The list of `PhysicalValues` from the powertrain that can be actuated can be seen in the [PhysicalValues list](/user-docs/PhysicalValues-list).
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| Name | Description | Range |
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| :---- | :--- | :--- |
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| `gas` | How much the vehicle should accelerate. A value of `1` is full throttle. Negative values can be used as a simplified way to go reverse. | `[-0.5 ; 1]` |
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| `steering` | Desired *wheel orientation* (not steering wheel). Negative is to the right. | `[-30 deg ; +30 deg]` |
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| `braking` | How much the vehicle should brake. A value of `1` is full braking force. | `[0 ; 1]` |
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# Examples
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# Examples
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