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## SensorProperties
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## Sensor Properties
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A `Sensor` reads a `PhysicalValue` inside the vehicle and sends its value with the specified time interval.
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... | ... | @@ -6,9 +6,9 @@ A `Sensor` reads a `PhysicalValue` inside the vehicle and sends its value with t |
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| :---- | :--- | :--- | :---------- | :------------ |
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| `type` | - | S | Must be `sensor` for a `Sensor` component. Must be the first entry. | |
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| `physical_value_name` | - | S | Name of the watched value. | - |
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| `update_interval` | s | Duration | Duration between to sensor "reads". | 100 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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| `update_interval` | s | Duration | Duration between to sensor "reads". | `100 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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List of `PhysicalValues` available for sensing:
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... | ... | @@ -19,7 +19,7 @@ List of `PhysicalValues` available for sensing: |
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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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## ActuatorProperties
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## Actuator Properties
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An `Actuator` receives messages with the name `set_` + *physical_value_name*. This will update a `PhysicalValue` with name *physical_value_name* at a given maximum rate.
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The actuator can also have a *feedback sensor* attached (`sensor` entry) which will send the current value back (with message name *physical_value_name*).
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... | ... | @@ -35,9 +35,9 @@ List of `PhysicalValues` from the powertrain that can be actuated: |
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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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| `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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---
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Next: [Bridge, Navigation and SimpleCommunicationGateway Properties](/user-docs/json-scenario-reference/Bridge,-Navigation-and-SimpleCommunicationGateway-Properties) |
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Next: [Bridge, Navigation, Lidar, SimpleCommunicationGateway](/user-docs/json-scenario-reference/Bridge,-Navigation,-Lidar,-SimpleCommunicationGateway) |
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