By default, all sensors are aliased to their attribute .val.
Sensors are grouped by type in buttons, walls, cliffs and
bumpers groups. They are also all grouped in the
sensors group.
Please keep in mind that groups and aliases are there to give simpler access to
most useful information on devices. You may want to tweak aliases.u
and groups.u files to adapt the robot device layout to your
personal use.
Bumpers bumperL and bumperR are input
devices set on the front and side of the iRobot Create.
They have a value of 1 if pressed, 0 otherwise.
The wall detector is refered by the wall object.
Its value depends on how well the wall is detected and does not refer to any distance. A black wall will have a lower signal than a white wall even if detected at the same distance.
The wall detector is refered by the virtualwall object.
Its value is set to 1 if a virtual wall is detected,
0 otherwise.
The cliff detectors are respectively called cliffL,
cliffFL, cliffFR,
cliffR depending on their position on the robot (left,
front left, front right, right).
Their value detects surfaces under the robot. 0 is for ground,
1 is in case of a possible fall.
The cliff detectors are grouped under cliffs.
The signal attribute gives a value helpful to get the
distance from the sensor to the ground.