Webots学习笔记（三）---控制器（电机控制）

加载模型

首先，打开之前创建好的四轮小车模型，本文将写一段代码实现对小车的简单控制。

新建控制器

• 菜单栏向导–>新建机器人控制器，下一步后可以看到将会选一种语言编写控制器，这里我选择C语言

• 

• 接下来选择编辑器，可以选择Webots自己的编辑器，也可以选择VS，这里我就直接用Webots的文本编辑器吧

  -

  

• 最后就会在代码区得到

  

电机控制

• 查看参考手册，可以发现有速度控制，位置控制，这里我进行小车的速度控制

  

代码

/*
 * 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> 
 //添加电机控制头文件


  
/*
 * 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");
   */
	//读取电机
	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);
     */
	//设置电机速度
	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;
}

           

• 点击编译生成当前项目，就可以在调试区看到编译进度

  

• 出现这样，即可

  

  添加控制器

  • 在Robot节点下找到controller节点，添加刚刚编译生成的控制器

    

  • 保存

  运行仿真