ADD: GPS-cordniates

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.
 

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

worlds/.world.wbproj

 Webots Project File version R2022b
-perspectives: 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

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