int main() { double w_left, w_right; wb_robot_init(); WbDeviceTag human02_wheel; human02_wheel = wb_robot_get_device("human02_plate"); int time_step = wb_robot_get_basic_time_step(); wb_differential_wheels_enable_encoders(time_step); for (;;) { w_left = 10.; w_right = 10.; wb_differential_wheels_set_speed(w_left, w_right); //printf(" left_encoder=%7.5f\n",wb_differential_wheels_get_left_encoder()); wb_robot_step(32); } return 0; }
int main() { wb_robot_init(); printf("hello from NAO\n"); time_step = wb_robot_get_basic_time_step(); receiver = wb_robot_get_device("receiver"); wb_receiver_enable(receiver, time_step); emitter = wb_robot_get_device("emitter2"); wb_receiver_enable(emitter, time_step); find_and_enable_devices(); wb_motor_set_position (RShoulderPitch, 1.57079633); wb_motor_set_position (LShoulderPitch, 1.57079633); wb_motor_set_position (HeadYaw, 0.0); //wb_motor_set_position (HeadPitch, 0.1); //10 degrees // run until simulation is restarted while (wb_robot_step(time_step) != -1) { //check_for_new_genes(); //sense_compute_and_actuate(); //int samples = wb_camera_get_width(LaserHead); //double field_of_view = wb_camera_get_fov(LaserHead); //const float *values = wb_camera_get_range_image(LaserHead); report_step_state_to_supervisor(); //printf("%f\n", field_of_view); //printf("size: %d\n", sizeof(values)); //int i; //for(i=0; i<samples;i++){ // printf("value %d is %f\n",i, values[i]); //} if(wb_robot_step(time_step) == 0){ //report_step_state_to_supervisor(); } } wb_robot_cleanup(); return 0; }
int main(int argc, char **argv) { wb_robot_init(); int time_step = wb_robot_get_basic_time_step(); WbDeviceTag gps = wb_robot_get_device("GPS"); wb_gps_enable(gps, time_step); WbDeviceTag emitter = wb_robot_get_device("emitter"); wb_emitter_set_channel(emitter,13); double* gps_value; char message[32]; while (wb_robot_step(time_step) != -1){ gps_value = wb_gps_get_values(gps); //Something's wrong with deserialization //So we make a fixed width string here sprintf(message,"{%0.3f,%0.3f}",gps_value[0]/2+5.0,-gps_value[2]/2+5.0); wb_emitter_send(emitter,message,strlen(message)+1); // printf("%s\n",message); } wb_robot_cleanup(); return 0; }
int main() { printf("hello from supervisor\n"); const char *robot_name[ROBOTS] = {"NAO"}; WbNodeRef node; WbFieldRef robot_translation_field[ROBOTS],robot_rotation_field[ROBOTS],ball_translation_field; //WbDeviceTag emitter, receiver; int i,j; int score[2] = { 0, 0 }; double time = 10 * 60; /* a match lasts for 10 minutes */ double ball_reset_timer = 0; double ball_initial_translation[3] = { -2.5, 0.0324568, 0 }; double robot_initial_translation[ROBOTS][3] = { {-4.49515, 0.234045, -0.0112415}, {0.000574037, 0.332859, -0.00000133636}}; double robot_initial_rotation[ROBOTS][4] = { {0.0604202, 0.996035, -0.0652942, 1.55047}, {0.000568956, 0.70711, 0.707104, 3.14045}}; double packet[ROBOTS * 3 + 2]; char time_string[64]; const double *robot_translation[ROBOTS], *robot_rotation[ROBOTS], *ball_translation; wb_robot_init(); time_step = wb_robot_get_basic_time_step(); emitter = wb_robot_get_device("emitter"); wb_receiver_enable(emitter, time_step); receiver = wb_robot_get_device("receiver"); wb_receiver_enable(receiver, time_step); for (i = 0; i < ROBOTS; i++) { node = wb_supervisor_node_get_from_def(robot_name[i]); robot_translation_field[i] = wb_supervisor_node_get_field(node,"translation"); robot_translation[i] = wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]); for(j=0;j<3;j++) robot_initial_translation[i][j]=robot_translation[i][j]; robot_rotation_field[i] = wb_supervisor_node_get_field(node,"rotation"); robot_rotation[i] = wb_supervisor_field_get_sf_rotation(robot_rotation_field[i]); for(j=0;j<4;j++) robot_initial_rotation[i][j]=robot_rotation[i][j]; } node = wb_supervisor_node_get_from_def("BALL"); ball_translation_field = wb_supervisor_node_get_field(node,"translation"); ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field); for(j=0;j<3;j++) ball_initial_translation[j]=ball_translation[j]; /* printf("ball initial translation = %g %g %g\n",ball_translation[0],ball_translation[1],ball_translation[2]); */ set_scores(0, 0); while(wb_robot_step(TIME_STEP)!=-1) { //printf("supervisor commands START!\n"); check_for_slaves_data(); ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field); for (i = 0; i < ROBOTS; i++) { robot_translation[i]=wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]); /* printf("coords for robot %d: %g %g %g\n",i,robot_translation[i][0],robot_translation[i][1],robot_translation[i][2]); */ packet[3 * i] = robot_translation[i][0]; /* robot i: X */ packet[3 * i + 1] = robot_translation[i][2]; /* robot i: Z */ if (robot_rotation[i][1] > 0) { /* robot i: rotation Ry axis */ packet[3 * i + 2] = robot_rotation[i][3]; /* robot i: alpha */ } else { /* Ry axis was inverted */ packet[3 * i + 2] = -robot_rotation[i][3]; } } packet[3 * ROBOTS] = ball_translation[0]; /* ball X */ packet[3 * ROBOTS + 1] = ball_translation[2]; /* ball Z */ wb_emitter_send(emitter, packet, sizeof(packet)); /* Adds TIME_STEP ms to the time */ time -= (double) TIME_STEP / 1000; if (time < 0) { time = 10 * 60; /* restart */ } sprintf(time_string, "%02d:%02d", (int) (time / 60), (int) time % 60); wb_supervisor_set_label(2, time_string, 0.45, 0.01, 0.1, 0x000000, 0.0); /* black */ if (ball_reset_timer == 0) { if (ball_translation[0] > GOAL_X_LIMIT) { /* ball in the blue goal */ set_scores(++score[0], score[1]); ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */ } else if (ball_translation[0] < -GOAL_X_LIMIT) { /* ball in the yellow goal */ set_scores(score[0], ++score[1]); ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */ } } else { ball_reset_timer -= (double) TIME_STEP / 1000.0; if (ball_reset_timer <= 0) { ball_reset_timer = 0; wb_supervisor_field_set_sf_vec3f(ball_translation_field, ball_initial_translation); for (i = 0; i < ROBOTS; i++) { wb_supervisor_field_set_sf_vec3f(robot_translation_field[i], robot_initial_translation[i]); wb_supervisor_field_set_sf_rotation(robot_rotation_field[i], robot_initial_rotation[i]); } } } } wb_robot_cleanup(); return 0; }