From f96aa3be7dbb537805510b31f68af61cf9308b9b Mon Sep 17 00:00:00 2001
From: Trim Bresilla <trim.bresilla@gmail.com>
Date: Mon, 26 Sep 2022 15:10:48 +0200
Subject: [PATCH] ADD: GPS-cordniates

---
 README.md                                  |   2 +-
 controllers/my_controller/my_controller.py |  23 +++++++++++++---
 worlds/.world.jpg                          | Bin 28500 -> 26334 bytes
 worlds/.world.wbproj                       |   6 ++---
 worlds/world.wbt                           |  29 ++++++++++++---------
 5 files changed, 40 insertions(+), 20 deletions(-)

diff --git a/README.md b/README.md
index d16785a..7448725 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@ Here we want to implement a simple avoidance algorithm to robot. We use e-puck r
 
 ## 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..121b4567e4970c611c97ad30e9119f73c8aac4fe 100644
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diff --git a/worlds/.world.wbproj b/worlds/.world.wbproj
index 9b2e8c0..a8b5d60 100644
--- a/worlds/.world.wbproj
+++ b/worlds/.world.wbproj
@@ -1,10 +1,10 @@
 Webots Project File version R2022b
-perspectives: 000000ff00000000fd0000000200000001000001a50000031cfc0200000001fb0000001400540065007800740045006400690074006f007201000000130000031c0000008900ffffff0000000300000768000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007680000006900ffffff000005c10000031c00000001000000020000000100000008fc00000000
+perspectives: 000000ff00000000fd0000000100000001000001c00000082bfc0200000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000013000007780000003900fffffffb0000001400540065007800740045006400690074006f0072010000078d000000b10000008900ffffff00000ba60000082b00000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000014a0000061c0100000002010000000100
 sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
-textFiles: 0 "controllers/my_controller/my_controller.py"
+textFiles: 0 "../obsavoid/controllers/my_controller/my_controller.py"
 consoles: Console:All:All
-renderingDevicePerspectives: e-puck:camera;1;3.82051;0;0
+renderingDevicePerspectives: e-puck:camera;0;3.38462;0;0
diff --git a/worlds/world.wbt b/worlds/world.wbt
index 03ac569..5e16f51 100644
--- a/worlds/world.wbt
+++ b/worlds/world.wbt
@@ -7,12 +7,13 @@ 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
+  position 0.0003051560168778658 3.501262190645565e-06 5.043498464270635
 }
 TexturedBackground {
 }
@@ -25,19 +26,21 @@ 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
+  hidden position_0_0 173.12431056902832
+  hidden position_0_1 169.71291435045296
+  hidden rotation_1 0 1 0 0.6984699206507091
+  hidden rotation_2 0 -0.9999999999999999 0 2.367219551802442
+  translation 0 0 -6.39533e-05
+  rotation 0.0004724657719699007 -0.00047245231765368986 0.999999776782426 1.5708248738206394
   controller "my_controller"
+  turretSlot [
+    GPS {
+    }
+  ]
+  groundSensorsSlot [
+    E-puckGroundSensors {
+    }
+  ]
 }
 OilBarrel {
   translation 0 -0.34 0.11
-- 
GitLab