Webots e-puk turn 90 degrees

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Hi!

I am building a little maze runner project. I will implement the simple “follow the wall” algorithm.
I need help turning a epuk robot 90 degrees to the right and to the left.
I am using a simulation environment called WEBOTS.
I want my controller to be in C language.

I tryed using wb_robot_step(TIME_STEP) to make the robot rotate for a certain amount of time but I didnt quite get it.

I also read somewhere online that I could possibly use the InertialUnit module to get the position of the robot on the y axis and rotate the robot until the angle is correct, but I didn’t find any examples on that either.

The few examples I found online used the DifferentialWheels node, but it is deprecated and I don’t want to use it (https://www.cyberbotics.com/doc/reference/differentialwheels).

I appreciate any help !

7

Hi,

Did you look at the Gyro module ? It seems that the e-puck has an IMU, so you can probably get the 3 axis angles (roll, pitch and yaw) by integrating the Gyro values

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