# 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:
