# Import Webots-specific functions from controller import Display from vehicle import Driver # Import functions from other scripts in controller folder from util import * from your_controller import CustomController from evaluation import evaluation trajectory = getTrajectory('buggyTrace.csv') # Instantiate supervisor and functions driver = Driver() driver.setDippedBeams(True) driver.setGear(1) # Torque control mode throttleConversion = 15737 msToKmh = 3.6 # Access and set up displays console = driver.getDisplay("console") speedometer = driver.getDisplay("speedometer") console.setFont("Arial Black", 14, True) speedometerGraphic = speedometer.imageLoad("speedometer.png") speedometer.imagePaste(speedometerGraphic, 0, 0, True) consoleObject = DisplayUpdate(console) speedometerObject = DisplayUpdate(speedometer) # Get the time step of the current world timestep = int(driver.getBasicTimeStep())
from vehicle import Driver import os import pickle curr_dir = os.getcwd() par_dir = curr_dir[:curr_dir.rfind('/')] driver = Driver() driver.setSteeringAngle(0.0) driver.setGear(1) driver.setThrottle(1) driver.setCruisingSpeed(100) camera = driver.getCamera('camera') camera.enable(1) brake_coeff = 9.0 counter = 0 braking = False braking_threshold = 0.3 friction_acc = 0.5 ignore_smart_intersection = True # Set this to True if you want to ignore smart intersection while driver.step() != -1: counter = counter + 1 speed = driver.getCurrentSpeed() * (5. / 18.) while True: try: