Pose Sensors – Detect Orientation Robotics Beginner Course – 11 Young Joon Kim http://www.helloapps.com

Topics Build basic environment Detect Orientation of robot with VPL

Build Basic Environment

Pose Sensor Service Pose Sensor Service in VPL (Pose information) Provides Position (x, y, z) of entity and robot Provides Orientation (x, y, z) Provides Velocity Provides Acceleration Provides LinearAcceleration and AngularAcceleration Provides Distance Provides LinearDisplacement and AngularDisplacement Provides Interval

Build basic environment Start with basic environment

Build basic environment Add “AddLegoNXTTribot” command

Build basic environment Change robot name with “lego1”

Build basic environment Add “UpdateCameraView” command

Build basic environment Change the value of “/EyePosition:” as follows /EyePosition:1 0.5 1

Build basic environment Add “FlushScript” command

Build basic environment Save the script with the name of “script/Pose3.txt”

Build basic environment Executed result

Detect Orientation of robot with VPL

Detect Orientation of robot with VPL Build diagram to load basic sim environment

Detect Orientation of robot with VPL Add diagram to make robot turn around

Detect Orientation of robot with VPL Add a “Data” activity and “SPL Pose Sensors” Connect “Data” and “SPLPoseSensors”

Detect Orientation of robot with VPL Choose “PoseSubscribe” Choose “value”

Detect Orientation of robot with VPL Copy & Paste “SPLPoseSensors” Copy & Paste

Detect Orientation of robot with VPL Add “Calculate” and “HelloAppsConsole” service

Detect Orientation of robot with VPL Choose “PoseNotify”

Detect Orientation of robot with VPL Choose “Orientation” from the list

Detect Orientation of robot with VPL Add “.” Choose “X” from the list

Detect Orientation of robot with VPL Complete the expression of “Calculate” as follows Orientation.X + " / " + Orientation.Y + " / " + Orientation.Z

Detect Orientation of robot with VPL Connect “Calculate” and “Console”

Detect Orientation of robot with VPL Save and execute diagram

Detect Orientation of robot with VPL Executed result