np.random.seed(5)
# degrees for left, right, up, down
head_directions = [90, 270, 0, 180]
timestep = 2000
# Initialize devices
ps = []
psNames = ['ps0', 'ps1', 'ps2', 'ps3', 'ps4', 'ps5', 'ps6', 'ps7']
for i in range(8):
ps.append(robot.getDistanceSensor(psNames[i]))
ps[i].enable(timestep)
cmpXY1 = robot.createCompass("compassXY_01")
cmpXY1.enable(timestep)
cmpZ1 = robot.createCompass("compassZ_01")
cmpZ1.enable(timestep)
# Initialize motors
leftMotor = robot.getMotor('left wheel motor')
rightMotor = robot.getMotor('right wheel motor')
leftMotor.setPosition(float('inf'))
rightMotor.setPosition(float('inf'))
leftMotor.setVelocity(0.0)
leftMotor.setVelocity(0.0)
# Configuring parameters
t = 0
