mMotionManager->playPage(9) // init position mMotionManager->playPage(9) // init positionĢ8. const double *acc = mAccelerometer->getValues() Ģ2. count how many steps the accelerometerĩ. static const double acc_tolerance = 80.0 ħ.
#Webots controller methods webots how to
Later, we will introduce how to modify it.ĬheckIfFallen function to detect if the robot falls:Ĥ. The above is the modified run function, which makes the robot move directly without keyboard control. The first thing to do in the loop is to check whether the robot has not fallen, that is, to call the checkiffallon function, which is implemented by using an accelerometer.
In the run function, motion_ Manager is used to make the robot stand, and then the controller goes into an infinite while loop. When the emulator starts to run, run the Walk.cpp Files in the same folder main.cpp File, which calls the run function. function containing the main feedback loop Run function is used to control the continuous motion of the robot:ġ. Wait function causes the robot to wait for a period of time: MyStep function enables the robot to move in one step: mGaitManager = new RobotisOp2GaitManager( this, "config.ini" ) mMotionManager = new RobotisOp2MotionManager( this ) Ģ3. mAccelerometer = getAccelerometer( "Accelerometer" ) ġ1. In the robot function, set the initial state of the robot, such as the color of the LED on the head and eyes, and initialize the keyboard input and the motion manager of the motion managerĦ. In Walk.cpp, firstly, some key constants are defined to represent some joints of robot motion: Open RunningRobot Env_ V1.0.wbt file, select the robot, right-click, select "Edit controller", open in the right window Walk.cpp. Analysis and description of controller code
0 kommentar(er)
