Sensors Panel

 

This panel shows the values of the robot sensors (except feet touch sensors whose value are directly indicated by the corresponding leg color, see section 2.1.10, and for the robot camera whose output is drawn in an always visible private window). Up to now the robot is equipped with two inclinometers (one along the robot's body and the other transversal to it) and sensors to detect when a leg reaches the end of the range of any of its joints. Those sensors are active if the angular distance between the joint position and the end of its range is below 1 degree. There is one sensor for each one of the three joints of each leg ($\alpha$, $\beta$, and $\gamma$) and an additional sensor to monitor possible restrictions that involve both $\alpha$ and $\beta$. See section 2.2.3 for a detailed description about the leg configuration.

The Refresh and Hide buttons perform the usual tasks.

 

Figure 2.11: The sensors sub-panel.