Modifier applied on a command
motor.val = 5 time:500ms; motor.val = 34 time:400ms;
Table 2.2. Modifier
| Urbi command | description | comment |
|---|---|---|
| time:200ms | command executed in 200ms | default unit is millisecond (ms), you can enter second (s) |
| time:200ms adaptative:3 | calcul is done again every step (here 3) | this helps if trajectory is not followed correctly |
| smooth:200ms | smooth profile for a trajectory | example: x=0; x=100 smooth:100ms; |
| speed:20 | set speed for the command | unit is: unit/second |
| accel:5 | set acceleration for the command | unit is: unit/second/second |
| sin:50ms ampli:a phase:p getphase:g, | sin, cos... modifier | motor.val = myCenterValue sin:myPeriod ampli:myAmplitude,. |
| off | change load property to 0 | motors off; is same as motors.load = 0; |
| on | change load property to 1 | motors on; is same as motors.load = 1; |
| switch | change load property to the inverse value | motors switch; is same as motors.load = ! motors.load ; |