Battery sensor

This sensor emulates the remaining charge of a battery on the robot. It is meant to be used only as an informative measure, to be taken in consideration by the planning algorithms. It does not prevent the robot from working.

The charge of the battery decreases with time, using a predefined Discharge rate specified as a property of the Blender object. This rate is independent of the actions performed by the robot, and only dependant on the time elapsed since the beginning of the simulation.

A planned feature is to allow for designated Charging Zones where the battery will gradually recharge. However, this is not implemented yet.

../../_images/battery.png

Files

  • Blender: $MORSE_ROOT/data/sensors/battery.blend
  • Python: $MORSE_ROOT/src/morse/sensors/battery.py

Local data

  • charge: (float) The percent of battery charge remaining. It starts with a value of 100, and gradually decreases to 0.

Configurable Parameters

The Empty object corresponding to this sensor has the following parameters in the Logic Editor panel:

  • DischargingRate: (float) The percent of the battery charge that is spent per second.

Applicable modifiers

No available modifiers

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