Documentation

Programming

Developing your code

On first run, the robot will execute an example program for convenience. On first run, this will be copied to the directory competition-simulator-<version> is stored in:

.
├── competition-simulator-<version>
│   ├── ...
│   └─ worlds
│       └── Arena.wbt
└── robot.py

Your code should be developed in robot.py.

Only your controller code will be present in the competition environment.

Programming Interface

Unless otherwise stated, the simulator’s API is the same as the real SR API described in the programming docs.

To assist with converting your existing code from Python 2 to Python 3, you can use 2to3.

Robot

There are two possible classes you can use to control your robot. You are encouraged to use the newer ManualTimestepRobot class rather than the older Robot class. This avoids unpredictable behaviour which can result from simulator time not passing at the same rate as real time.

Motors

Your robot has two motor boards attached, each with two motors. Board 0 has the left wheel in port m0, and the right wheel in m1. Board 1 has the gripper lift motor in m0, and the finger motors in m1.

The motor boards do not have part codes, and so need to be indexed using 0 and 1. The motor boards will always be in this order.

Ruggeduino

Your robot has five microswitches and six distance sensors, attached to the digital and analogue pins respectively. These are all attached to a single ruggeduino.

Because these sensors are pre-attached to the ruggeduino, you do not need to set its pin_mode.

Microswitches

The microswitches are attached to digital pins 2-6:

Pin Location
2 Front
3 Back
4 Between gripper fingers
5 Left gripper finger
6 Right gripper finger

These are shown as red coloured blocks on the robot. Using the digital_read method, you’ll receive a bool telling you whether the switch is current actuated.

Distance Sensors

Analogous to ultrasound sensors, distance sensors allow you to retrieve the distance between your robot and an object. These are attached to analogue pins 0-5:

Pin Location
0 Front Left
1 Front Right
2 Left
3 Right
4 Back Left
5 Back Right

These are shown as blue coloured blocks on the robot. The analogue_read method will return the distance in metres, however only measure up to 30cm.

LEDs

The LEDs are attached to digital pins 7-12:

Pin Location
7 Red (right)
8 Green (right)
9 Blue (right)
10 Blue (left)
11 Green (left)
12 Red (left)

Using the digital_write method, you can set these to True (On) or False (Off).

Camera

Your robot has a camera, which is attached to the top of your robot. A live preview of what the camera sees is shown in the top-left corner. The vision system uses Webots’ object recognition, rather than fiducial markers.

The see method will return a list of visible markers in the arena, but doesn’t allow a resolution argument. Each token is as described in the vision docs, except:

  • As well as the existing constants, Marker.info.marker_type can be referred to as MarkerType.SILVER, MarkerType.GOLD or MarkerType.ARENA. MarkerType can be imported with from sr.robot import MarkerType
  • The following attributes are not available:
    • Marker.res
    • Point.image

Time

In the simulated environment, time advances only at the pace that the simulator is run. As a result, using time.time to know how long your robot has been running for or time.sleep to wait for some duration will be unreliable.

As a result the API present in the simulator supports a slightly different approach to handling time. See the documentation about simulated time for more details.