mirror of https://github.com/ArduPilot/ardupilot
SITL: example for steering/throttle rover
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@ -12,16 +12,15 @@ Then connect with ArduPilot like this:
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sim_vehicle.py --model morse --console --map
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This model assumes you will setup a skid-steering rover with left throttle on
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channel 1 and right throttle on channel 2, which means you need to set:
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This model assumes you will setup a steering/throttle rover
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SERVO1_FUNCTION 73
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SERVO3_FUNCTION 74
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SERVO1_FUNCTION 26
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SERVO3_FUNCTION 70
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'''
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from morse.builder import *
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# use the ATRV rover
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vehicle = ATRV()
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# use the Hummer
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vehicle = Hummer()
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vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
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vehicle.translate(x=0.0, z=0.0)
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@ -55,12 +54,9 @@ all_sensors.add_stream('socket')
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vehicle.append(all_sensors)
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# make the vehicle controllable with speed and angular velocity
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# make the vehicle controllable with steer and force
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# this will be available on port 60001 by default
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# an example command is:
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# {"v":2, "w":1}
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# which is 2m/s fwd, and rotating left at 1 radian/second
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motion = MotionVW()
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motion = SteerForce()
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vehicle.append(motion)
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motion.add_stream('socket')
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@ -78,4 +74,4 @@ env.select_display_camera(camera)
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env.set_camera_clip(clip_end=1000)
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# startup at CMAC. A location is needed for the magnetometer
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env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)
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env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)
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