Webots學習筆記（三）---控制器（電機控制）

加載模型

首先，打開之前建立好的四輪小車模型，本文将寫一段代碼實作對小車的簡單控制。

建立控制器

• 菜單欄向導–>建立機器人控制器，下一步後可以看到将會選一種語言編寫控制器，這裡我選擇C語言

• 

• 接下來選擇編輯器，可以選擇Webots自己的編輯器，也可以選擇VS，這裡我就直接用Webots的文本編輯器吧

  -

  

• 最後就會在代碼區得到

  

電機控制

• 檢視參考手冊，可以發現有速度控制，位置控制，這裡我進行小車的速度控制

  

代碼

/*
 * File:          my_controller.c
 * Date:
 * Description:
 * Author:
 * Modifications:
 */

/*
 * You may need to add include files like <webots/distance_sensor.h> or
 * <webots/motor.h>, etc.
 */
#include <webots/robot.h>
#include <webots/motor.h> 
 //添加電機控制頭檔案


  
/*
 * You may want to add macros here.
 */
#define TIME_STEP 64

/*
 * This is the main program.
 * The arguments of the main function can be specified by the
 * "controllerArgs" field of the Robot node
 */
int main(int argc, char **argv) {
  /* necessary to initialize webots stuff */
  wb_robot_init();

  /*
   * You should declare here WbDeviceTag variables for storing
   * robot devices like this:
   *  WbDeviceTag my_sensor = wb_robot_get_device("my_sensor");
   *  WbDeviceTag my_actuator = wb_robot_get_device("my_actuator");
   */
	//讀取電機
	WbDeviceTag left_front_motor
                    = wb_robot_get_device("left_front_motor");
	wb_motor_set_position(left_front_motor,INFINITY);
	wb_motor_set_velocity(left_front_motor,0);

	WbDeviceTag left_back_motor
                    = wb_robot_get_device("left_back_motor");
	wb_motor_set_position(left_back_motor,INFINITY);
	wb_motor_set_velocity(left_back_motor,0);

	WbDeviceTag right_front_motor
                    = wb_robot_get_device("right_front_motor");
	wb_motor_set_position(right_front_motor,INFINITY);
	wb_motor_set_velocity(right_front_motor,0);

	WbDeviceTag right_back_motor
                    = wb_robot_get_device("right_back_motor");
	wb_motor_set_position(right_back_motor,INFINITY);
	wb_motor_set_velocity(right_back_motor,0);



  /* main loop
   * Perform simulation steps of TIME_STEP milliseconds
   * and leave the loop when the simulation is over
   */
  while (wb_robot_step(TIME_STEP) != -1) {
    /*
     * Read the sensors :
     * Enter here functions to read sensor data, like:
     *  double val = wb_distance_sensor_get_value(my_sensor);
     */
	//設定電機速度
	wb_motor_set_velocity(left_front_motor,10);
	wb_motor_set_velocity(left_back_motor,10);
	wb_motor_set_velocity(right_front_motor,0);
	wb_motor_set_velocity(right_back_motor,0);
    /* Process sensor data here */

    /*
     * Enter here functions to send actuator commands, like:
     * wb_motor_set_position(my_actuator, 10.0);
     */
  };

  /* Enter your cleanup code here */

  /* This is necessary to cleanup webots resources */
  wb_robot_cleanup();

  return 0;
}

           

• 點選編譯生成目前項目，就可以在調試區看到編譯進度

  

• 出現這樣，即可

  

  添加控制器

  • 在Robot節點下找到controller節點，添加剛剛編譯生成的控制器

    

  • 儲存

  運作仿真