Documentation

Simulator Programming

Developing your code

On first run, the robot will execute an example program for convenience. This program 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.

Robot

There is a pre-built robot used in the simulator. To allow this simulated robot to move around and sense its environment a set of motors and sensors have been connected as detailed below.

The simulator’s API is very similar to the real SR API described in the programming docs. The main differences are the way that time is handled, some discrepancies in the vision API we hope to resolve soon and the simulated robot not having the Brain Board LEDs.

To more closely reflect reality, artificial noise has been added to simulated values such that sensors and actuators are not perfectly accurate, and may fluctuate slightly between measurements or operations.

Motors

Your robot has one motor board attached, the left wheel is connected to the first port, and the right wheel to the second.

The motor board has the part code srABC1, since only a single motor board is attached it can be referenced as R.motor_board.

Servos

Your robot has one servo board attached, the jaws of the robot are controlled by a pair of servos:

Servo Location
0 Left Jaw
1 Right Jaw

Setting each servo to -1 fully opens the respective jaw.

The servo board has the part code srXYZ2, but since only a single servo board is attached it can be referenced as R.servo_board.

Ruggeduino

Your robot has a microswitch 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 microswitch is attached to digital pin 2:

Pin Location
2 Back

This is shown as a red coloured block on the robot. Using the digital_read method, you’ll receive a bool telling you whether the switch is currently 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 A0-A5:

Pin Location
A0 Front Left
A1 Front Right
A2 Left
A3 Right
A4 Front
A5 Back

These are shown as blue boards with silver transceivers on the robot. The analogue_read method will return the distance in metres. They can see in a narrow cone up to a maximum of about 2m away. Since these sensors rely on echoes being reflected back from objects, if the angle of incidence between the sensor’s pulse and the contacted surface exceeds 22.5 degrees then the sensor will be unable to detect the object.

LEDs

The LEDs are attached to digital pins 3-4:

Pin Location
3 Red (Left)
4 Green (right)

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

Vision

The simulated robot has a camera which provides position and orientation information about other objects within the simulation. This simulates the system of fiducial markers which the physical robot’s camera can detect.

The information returned by the simulated vision API is generally in the same format and units as the physical robot’s vision API.

Orientation information is returned in different formats between the simulator and the physical robot kits. One (possibly both) of them may change to resolve this.

Simulated 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. The methods R.time and R.sleep are provided as a direct replacement of time.time and time.sleep respectively and can be used anywhere the previous methods were used.

Since the simulator does not simulate the time taken to execute your code, any loop or decision which needs an event to occur must be accompanied by a R.sleep even if with a small value. If in doubt add an R.sleep. If you find that the simulator freezes then this indicates that your code is reaching a loop which does not contain any R.sleep and is expecting time to advance.