Created
September 14, 2024 13:43
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A slightly simplified version of the Webots collision detection example at https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers?tab-language=python
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| from controller import Robot, DistanceSensor, Motor | |
| TIME_STEP = 64 | |
| SPEED = 3.14 | |
| PROXIMITY_THRESHOLD = 80 | |
| robot = Robot() | |
| def setup_sensor(device_id): | |
| sensor = robot.getDevice(f"ps{device_id}") | |
| sensor.enable(TIME_STEP) | |
| return sensor | |
| def obstacle_close(sensors): | |
| return any(s.getValue() > PROXIMITY_THRESHOLD for s in sensors) | |
| right_sensors = [setup_sensor(i) for i in range(3)] | |
| left_sensors = [setup_sensor(i) for i in range(5, 8)] | |
| leftMotor = robot.getDevice('left wheel motor') | |
| rightMotor = robot.getDevice('right wheel motor') | |
| leftMotor.setPosition(float('inf')) | |
| rightMotor.setPosition(float('inf')) | |
| while robot.step(TIME_STEP) != -1: | |
| if obstacle_close(left_sensors): # turn right | |
| leftMotor.setVelocity(SPEED) | |
| rightMotor.setVelocity(-SPEED) | |
| elif obstacle_close(right_sensors): # turn left | |
| leftMotor.setVelocity(-SPEED) | |
| rightMotor.setVelocity(SPEED) | |
| else: # go straight | |
| leftMotor.setVelocity(SPEED) | |
| rightMotor.setVelocity(SPEED) |
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