所以我希望我的机器人在 webbots 上到达所需的坐标

Question

我希望我的机器人前往世界上所需的坐标。我唯一能做到的就是让机器人在每次遇到障碍物时都前进并转身，但这都是随机的，我无法让机器人去世界上我想去的地方。 有什么建议吗？

from controller import Robot, Motor, DistanceSensor, Compass
import time

robot = Robot()


timestep = int(robot.getBasicTimeStep())
MAX_SPEED = 12

distanciaLimite = 0.1 

leftMotor = robot.getDevice('left wheel motor')
rightMotor = robot.getDevice('right wheel motor')

sensorDistancias = []
nombreSensor = [
    'ps0', 'ps1', 'ps2', 'ps3',
    'ps4', 'ps5', 'ps6', 'ps7'
]

izq = True


compassXY = robot.getCompass('compassXY_01')
compassXY.enable(timestep)
compassZ = robot.getCompass('compassZ_01')
compassZ.enable(timestep)

for x in range(8):
    sensorDistancias.append(robot.getDevice(nombreSensor[x]))
    sensorDistancias[x].enable(timestep)

def foward():
   rightMotor.setVelocity(0.7 * MAX_SPEED)
   leftMotor.setVelocity(0.7 * MAX_SPEED)
   rightMotor.setPosition(float('inf'))
   leftMotor.setPosition(float('inf'))

def stop():
   rightMotor.setVelocity(0)
   leftMotor.setVelocity(0)


def turn_right():
   tiempo=0
   tiempoInicial=time.time()
   while robot.step(timestep) != -1:
       rightMotor.setVelocity(-0.5 * MAX_SPEED)
       leftMotor.setVelocity(0.5 * MAX_SPEED)
       rightMotor.setPosition(float('inf'))
       leftMotor.setPosition(float('inf'))
       lecturaSensor = []
       for i in range(8):
        lecturaSensor.append(sensorDistancias[i].getValue())   
       obstaculo = lecturaSensor[4] < distanciaLimite or lecturaSensor[5] < distanciaLimite
       if obstaculo:
           print("asdad")
       else:
           print("no esta aqui")
           return
       tiempoFinal=time.time()
       tiempo=tiempoFinal-tiempoInicial
   return
   

def doblarIzquierda():
   tiempo=0
   tiempoInicial=time.time()
   while robot.step(timestep) != -1:
       leftMotor.setVelocity(-0.5 * MAX_SPEED)
       rightMotor.setVelocity(0.5 * MAX_SPEED)
       leftMotor.setPosition(float('inf'))
       rightMotor.setPosition(float('inf'))
       lecturaSensor = []
       for i in range(8):
        lecturaSensor.append(sensorDistancias[i].getValue())   
       obstaculo = lecturaSensor[2] < distanciaLimite or lecturaSensor[3] < distanciaLimite
       if obstaculo:
           print()
       else:
           return
       tiempoFinal=time.time()
       tiempo=tiempoFinal-tiempoInicial
   return
 
while robot.step(timestep) != -1:
    avanzar()
    XY = compassXY.getValues()
    Z = compassZ.getValues()
    print('compas XY',XY)
    print('compas Z',Z)
    
    
    lecturaSensor = []
    for i in range(8):
        lecturaSensor.append(sensorDistancias[i].getValue())
    #print(lecturaSensor)
    
    
    obstaculo = lecturaSensor[2] < distanciaLimite or lecturaSensor[3] < distanciaLimite
    #print(lecturaSensor[2] ," ", distanciaLimite)
    if obstaculo:
        detener()
        doblarIzquierda()

西班牙语中有一些东西，因为我说西班牙语，如果它引起混乱的话。 我正在使用 firebird6 预制的 webbots 机器人。 尝试使用指南针但没有用。请帮忙

Answer 1

您需要 gps.h 来读取坐标。您可以先阅读文档。