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47 lines
1.2 KiB
Python
47 lines
1.2 KiB
Python
"""olympian controller."""
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# You may need to import some classes of the controller module. Ex:
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# from controller import Robot, Motor, DistanceSensor
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from controller import Robot
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def main():
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# create the Robot instance.
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print("Initializing world...")
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robot = Robot()
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head_motor = robot.getDevice("torso_yaw")
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motor2 = robot.getDevice("right_hip_pitch")
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motor3 = robot.getDevice("right_knee_pitch")
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head_motor.setVelocity(1)
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motor2.setVelocity(9)
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motor3.setVelocity(9)
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pos = 0
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add = False
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# get the time step of the current world.
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timestep = int(robot.getBasicTimeStep())
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# Main loop:
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# - perform simulation steps until Webots is stopping the controller
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while robot.step(timestep) != -1:
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head_motor.setPosition(pos)
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# motor2.setPosition(pos)
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# motor2.setPosition(pos)
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# motor3.setPosition(-pos)
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if add:
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pos += 0.2
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else:
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pos -= 0.2
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if pos >= 1.4:
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add = False
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elif pos <= -1.4:
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add = True
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# Enter here exit cleanup code.
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if __name__ == '__main__':
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main() |