mirror of
https://github.com/PotentiaRobotics/engine-software.git
synced 2025-04-16 02:00:16 -04:00
46 lines
1.1 KiB
Python
46 lines
1.1 KiB
Python
"""olympian controller."""
|
|
|
|
# You may need to import some classes of the controller module. Ex:
|
|
# from controller import Robot, Motor, DistanceSensor
|
|
from controller import Robot
|
|
|
|
|
|
def main():
|
|
# create the Robot instance.
|
|
print("Initializing world...")
|
|
robot = Robot()
|
|
|
|
head_motor = robot.getDevice("shoulder_pitch")
|
|
motor2 = robot.getDevice("shoulder_roll")
|
|
motor3 = robot.getDevice("shoulder_yaw")
|
|
head_motor.setVelocity(1)
|
|
motor2.setVelocity(1)
|
|
motor3.setVelocity(1)
|
|
pos = 0
|
|
add = True
|
|
|
|
# get the time step of the current world.
|
|
timestep = int(robot.getBasicTimeStep())
|
|
|
|
# Main loop:
|
|
# - perform simulation steps until Webots is stopping the controller
|
|
while robot.step(timestep) != -1:
|
|
head_motor.setPosition(pos)
|
|
# motor2.setPosition(pos)
|
|
# motor3.setPosition(pos)
|
|
|
|
if add:
|
|
pos += 0.2
|
|
else:
|
|
pos -= 0.2
|
|
|
|
if pos >= 3:
|
|
add = False
|
|
elif pos <= -3:
|
|
add = True
|
|
|
|
# Enter here exit cleanup code.
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main() |