Sensor-Robot Display


The sensor display area of the interface provides information concerning light & distance sensor readings, gripper arm position, gripper position and gripper sensor readings. Light and distance readings are displayed adjacent to the actual sensor they pertain to on the Khepera top view image. Use the radio buttons above this image to select or disable sensor display updates. Disabling sensor updates can greatly improve the overall performance of the simulator. All of the images and text displayed in this panel are only updated when the simulator is running a controller.


Light and Distance Sensor Display

The actual sensors are depicted as red rectangles around the perimeter of the robot image. Sensors are numbered from 1 to 8 (0-7 when accessing them through the Sensor[] array), starting from the sensor on the far left side and traversing the sensors clock-wise around the robot.

At the bottom of the display area, you will find a row of three images. These provide information on the state of the Khepera gripper turret. The image (far right) shows the state of the gripper arm. The arm can be up or down. The next image (middle) shows the state of the gripper. This is either open or closed. The last image describes the gripper sensor: this sensor returns true when an object is between the grippers, and false otherwise. If no object is detected between the grippers, you will see an empty circle. If an object is detected between the grippers, you will see a red circle.

Arm and Gripper State Display


Default state: arm is up, gripper is open, and no object is present.


Opposite state: arm is down, gripper is closed, and an object is present.


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