webots-Controller Programming

hello world

from controller import Robot

robot = Robot()

while robot.step(32) != -1:
    print("Hello World!")

在这个“Hello World！”中 例如，while循环的退出条件是函数的返回值wb_robot_step。-1当 Webots 终止控制器时，这个函数确实会返回（参见控制器终止）。

读数传感器

示例会不断更新并打印DistanceSensor返回的值：

from controller import Robot, DistanceSensor

TIME_STEP = 32

robot = Robot()

sensor = robot.getDevice("my_distance_sensor")
sensor.enable(TIME_STEP)

while robot.step(TIME_STEP) != -1:
    value = sensor.getValue()
    print("Sensor value is: ", value)

GPS.getValues()
Accelerometer.getValues()
Gyro.getValues()

values = gps.getValues()

# OK, to read the values they should never be explicitly deleted by the controller code
print("MY_ROBOT is at position: %g %g %g" % (values[0], values[1], values[2]