From 5964c99dc849a8c17de8cfff502092554b9fc9a3 Mon Sep 17 00:00:00 2001 From: Trim Bresilla <trim.bresilla@gmail.com> Date: Mon, 26 Sep 2022 15:10:02 +0200 Subject: [PATCH] ADD: GPS-cordniates --- README.md | 4 ++- controllers/my_controller/my_controller.py | 23 +++++++++++-- worlds/.world.jpg | Bin 28500 -> 31241 bytes worlds/.world.wbproj | 5 ++- worlds/world.wbt | 36 ++++++++++++--------- 5 files changed, 45 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index 626cf1d..6ef6b4d 100644 --- a/README.md +++ b/README.md @@ -12,7 +12,9 @@ of the self-adaptive capabilities in their living environments. This behavior in ## ROBOT AND SENSORS -### Robot +### [Robot](https://cyberbotics.com/doc/guide/epuck) + + E-puck is a miniature mobile robot originally developed at EPFL for teaching purposes by the designers of the successful Khepera robot. The hardware and software of e-puck is fully open source, providing low level access to every electronic device and offering unlimited extension possibilities. diff --git a/controllers/my_controller/my_controller.py b/controllers/my_controller/my_controller.py index 57ca747..08c8853 100644 --- a/controllers/my_controller/my_controller.py +++ b/controllers/my_controller/my_controller.py @@ -22,6 +22,15 @@ for i in range(8): ps[i].enable(TIME_STEP) ls[i].enable(TIME_STEP) +gps = robot.getDevice('gps') +gps.enable(TIME_STEP) + + +leftEncoder = robot.getDevice('left wheel sensor') +leftEncoder.enable(TIME_STEP) +rightEncoder = robot.getDevice('right wheel sensor') +rightEncoder.enable(TIME_STEP) + leftMotor = robot.getDevice('left wheel motor') rightMotor = robot.getDevice('right wheel motor') leftMotor.setPosition(float('inf')) @@ -35,6 +44,17 @@ while robot.step(TIME_STEP) != -1: leftSpeed = 0.5 * MAX_SPEED rightSpeed = 0.5 * MAX_SPEED + # read encoders + rightEncoderValue = rightEncoder.getValue() + leftEncoderValue = leftEncoder.getValue() + + # read position + x = gps.getValues()[0] + y = gps.getValues()[1] + print("x: " + str(x)) + print("y: " + str(y)) + + # read sensors outputs psValues = [] lsValues = [] @@ -45,9 +65,6 @@ while robot.step(TIME_STEP) != -1: # detect light left_light = np.mean([lsValues[5], lsValues[6], lsValues[7]]) right_light = np.mean([lsValues[0], lsValues[1], lsValues[2]]) - print("LEFT LIGHT: " + str(left_light)) - print("RIGHT LIGHT: " + str(right_light)) - # detect obstacles diff --git a/worlds/.world.jpg b/worlds/.world.jpg index dac7e8b82e20087e410b3af0392aa348f2094a02..60ac954815cb8553f84b3eac56b5e8b6dd3e3815 100644 GIT binary patch delta 29920 zcmca|kFoO$<AzSA`t3<ZdOyzpGXBq?wKD9D-P`+rt8Fdbsim)38vL$q%f8~Gn*G=2 z&3|=N*E7|?&8luoN>zZ!<E5+~3m8Kle7x5qbHT80N=oul2FaMe_pddDe2J+uneA^A z*!&`c;a1h7{zHAXmcK3@Wzf4OyV9Um(=(3k{<S8zs^r@y4L&`!_pjB@J@~dOGx$a3 zoyQ9ouxPm__eWX2(NL+9KR3CH!N~CP{Iwd#Zuu^kJTAge=)-#a^xWmI-Sg(YIDY!O 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000000ff00000000fd0000000200000001000001c90000031cfc0200000001fb0000001400540065007800740045006400690074006f007201000000130000031c0000003f00ffffff0000000300000768000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007680000006900ffffff0000059d0000031c00000001000000020000000100000008fc00000000 +perspectives: 000000ff00000000fd0000000200000001000001c90000082bfc0200000001fb0000001400540065007800740045006400690074006f007201000000130000082b0000003f00ffffff0000000300000d68000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000d68000000000000000000000b9d0000082b00000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff00000001000000020000014a0000061c0100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200 maximizedDockId: -1 centralWidgetVisible: 1 orthographicViewHeight: 1 textFiles: -1 -consoles: Console:All:All -renderingDevicePerspectives: e-puck:camera;0;3.82051;0;0 +renderingDevicePerspectives: e-puck:camera;0;3.21154;0;0 diff --git a/worlds/world.wbt b/worlds/world.wbt index 03ac569..1562cf4 100644 --- a/worlds/world.wbt +++ b/worlds/world.wbt @@ -7,16 +7,22 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/project EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/obstacles/protos/OilBarrel.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Parquetry.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/factory/containers/protos/WoodenBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto" WorldInfo { } Viewpoint { - orientation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944 - position 0.2886112430982633 0.30112288717536395 4.7561144404849145 + orientation 0.5773502691896258 -0.5773502691896258 -0.5773502691896258 4.188785307179587 + position -4.522005200556433e-06 -4.522017979724802e-06 3.499343674307644 } TexturedBackground { } TexturedBackgroundLight { + luminosity 0.1 +} +PointLight { + attenuation 0 0 1 + intensity 2 } RectangleArena { floorSize 2 2 @@ -25,19 +31,17 @@ RectangleArena { } } E-puck { - hidden position_0_0 28.033302105971305 - hidden position_0_1 27.431657135094095 - hidden linearVelocity_0 -0.01040089258177146 0.0005189791645317463 -0.00010164286476468898 - hidden angularVelocity_0 -0.012580145309195254 -0.6870843501448997 -2.2292946089286447 - hidden rotation_1 0 -1 0 6.162461784455415 - hidden linearVelocity_1 0.043782987222245516 -0.0016398885897364905 -2.215561220686446e-05 - hidden angularVelocity_1 0.09747530080179415 2.4512349752960945 -2.23409528946547 - hidden rotation_2 0 1 0 6.147970605148766 - hidden linearVelocity_2 -0.07125569725759662 0.002336362298856977 -3.4872247586914343e-06 - hidden angularVelocity_2 -0.12270046057049977 -3.8254049928433136 -2.2324546810944326 - translation 0.6222753536792252 0.3401916142101004 -6.850241694632969e-05 - rotation 0.004217783566957383 -0.029762230724924357 -0.9995481078587757 0.09378488003841622 + translation -0.86 0 -0.000294454 + rotation -0.00017413628648491703 -0.0003860082047833772 -0.9999999103371058 0 controller "my_controller" + turretSlot [ + GPS { + } + ] + groundSensorsSlot [ + E-puckGroundSensors { + } + ] } OilBarrel { translation 0 -0.34 0.11 @@ -74,10 +78,10 @@ WoodenBox { size 0.2 0.2 0.2 } WoodenBox { - translation -0.619472 -0.0550393 0.11 + translation -0.632412 -0.00674303 0.11 rotation 0 0 -1 -0.261795307179586 name "wooden box(3)" - size 0.2 0.2 0.2 + size 0.2 0.4 0.2 } WoodenBox { translation -0.449264 -0.608328 0.11 -- GitLab