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Link : BraitenbergSensor

Class description:

A BraitenbergSensor is used in conjunction with BraitenbergVehicle to build Braitenberg vehicles. This class is typically not instantiated manually, since BraitenbergVehicle creates one for you when you add a sensor to the vehicle.

NOTE: this class is included as part of the file "Braitenberg.tz".

Methods:

  • link
  • setActivationMethod
  • setBias
  • setSensorAngle
    link( self, w )

    Associates this sensor with wheel w.

    setActivationMethod( self, m, o )

    This method specifies an activation method for the sensor. An activation method is a method which takes as input the strength read by the sensor, and as output returns the strength of the signal which will travel on to the motor.

    Your activation function should be defined as: 

     + to activation-function-name with-sensor-strength s (float):

    The default activation method is linear, but more complex vehicles may require non-linear activation functions.

    setBias( self, d )

    Sets the "bias" of this sensor. The default bias is 1, meaning that the sensor has a positive influence on associated wheels with strength 1. You can change this to any magnitude, positive or negative.

    setSensorAngle( self, n )

    Sets the angle in which this sensor can detect light. The default value of 1.5 means that the sensor can see most of everything in front of it. Setting the value to be any higher leads to general wackiness, so I don't suggest it.