def startSensors(self, timestep):
# Instantiate objects and start up GPS, Gyro, and Compass sensors
# For more details, refer to the Webots documentation
self.gps = GPS("gps")
self.gps.enable(timestep)
self.gyro = Gyro("gyro")
self.gyro.enable(timestep)
self.compass = Compass("compass")
self.compass.enable(timestep)
def startSensors(self, timestep):
""" Start sensors.
Instantiate objects and start up GPS, Gyro, IMU sensors.
For more details, refer to the Webots documentation.
Args:
timestep (int): time step of the current world.
"""
self.gps = GPS("gps")
self.gps.enable(timestep)
self.gyro = Gyro("gyro")
self.gyro.enable(timestep)
self.imu = InertialUnit("inertial unit")
self.imu.enable(timestep)
self.timestep = timestep
def move_forward():
motor_lst[1 + 0*3].setPosition(math.pi * -1 / 8)
motor_lst[1 + 0*3].setVelocity(1.0)
def rotate(angle):
for i in range(6):
motor_lst[0 + i*3].setPosition(angle)
motor_lst[0 + i*3].setVelocity(1.0)
camera = Camera("camera_d435i")
camera.enable(15)
print(camera.getSamplingPeriod())
camera.saveImage("~/test.png", 100)
gyro = Gyro("gyro")
gyro.enable(60)
inertial_unit = InertialUnit("inertial_unit")
inertial_unit.enable(60)
# Main loop:
# - perform simulation steps until Webots is stopping the controller
def default_low_pos():
for i in range(6):
motor_lst[0 + i*3].setPosition(0)
motor_lst[0 + i*3].setVelocity(1.0)
motor_lst[1 + i*3].setPosition(math.pi * 1 / 8)
motor_lst[1 + i*3].setVelocity(1.0)