Description  

 

 

Enabled:
Indicates if device is enabled or not. A disabled device is ignored in the simulation engine startup and make the QueryDevicexxx or QueryDevicexxx functions to fail (NULL is returned).

Name:
The name is the 'short' name of the device. In MODA programming, you need the complete device name in order to make QuerCoreDevicexxx or QueryDevicexxx to find the device.

For exemple, a motor named "mymotor", attached on an axis named "axisred" from a joint named "hinge0" : the motor full name is "hinge0/axisred/mymotor".

For using this motor:
MyRobot=Connection->QueryRobotPHX("/myrobot"); //or QueryRobotPHX("/") for getting the 'world'
MyMotor=MyRobot->QueryDeviceMotor("hinge0/axisred/mymotor");

The full name is relative to the PHX parent (or PHX "/" for the world).

Startup:
The startup mode determines the device startup state.

• On : the device enter in the ON mode : device updates its internal states when required (physics loops), it can receive and manage MODA server messages. Call the Off method to shutdown the device.
• Off: the device startups with minimum updates, cannot receive MODA server messages. In this case, the deviceresponse field (MODA programming) is MODA_EDEVICEISOFF. Call the On method to startup the device.
• Auto on (default): Device startups in Off state and is automatically set to On by MODA server if an application try to reach the device. This default mode is useful because the device consumes a minimum of CPU time until really used by an application.

 

Devices parameters are shown in a dialogbox with several panels.

Base: manufacturer information.

Device: device settings. Those settings ban be saved in a file and re-used for another device using the Open button.

Sound: this panel is shown if the device is able to generate sound (serovos, motors etc.) (Automatic sound settings)

Instance: devices's instance settings : they are not save-able in the device file and are valid only for the sensor's current instance.

Settings locked from file: indicates if device parameters are stored locally or in a file: 

• If the option in not checked, device's parameters are saved/read in/from the PHX file and are specific to this device instance.
• If the option is checked, settings are read from the device's file. In this case, the file is shared with all devices that are locked on this file.
• Checking the option causes the parameters to be read from the file overriding all previous changes. Before checking the option, use the Save button in order to update the file.

 

 

Name 

Description 

Absolute Compass 

Absolute Compass sensors.

 

Accelerometers/Gyroscopes/Gyrometers 

Acceleration, angular position and angular velocity sensors.

 

Actuating cylinders 

Actuating cylinder/jack.

 

Axis Force and Torque sensors 

Force and Torque Sensors (joints axes). 

Camera and Color sensor 

Image capture / cameras.

 

Contact and force sensor 

Contact and force sensors.

 

Distance sensors 

Distance sensors.

 

Emitters/receivers 

Emitters/receivers. 

External Communication 

Data exchange between real world and simulated device. 

GPS 

GPS sensor. 

LCD 

LCD display. 

LED 

LED . 

Lidar 

Lidar sensors (Light Detection and Ranging) 

Light source 

Controlling lights objects. 

Motors and servo-motors 

Motors and servo-motors.

 

Pressurized air 

Generating force using air pressure.

 

Range finders 

Laser Range finders sensors. 

Sound sources 

Generate 3D spatial sounds. 

Surface Motion 

Using Surface Motion devices.

 

Touch Area 

Using Touch Area devices.