1 files changed, 0 insertions, 84 deletions
diff --git a/simulation/controllers/OMHI_test/OMHI_test.py b/simulation/controllers/OMHI_test/OMHI_test.py
deleted file mode 100644
index ca8db64..0000000
--- a/simulation/controllers/OMHI_test/OMHI_test.py
+++ /dev/null
@@ -1,84 +0,0 @@
-from controller import Robot
-import math
-
-# Create the Robot instance.
-robot = Robot()
-
-# Get the time step of the current world.
-timestep = int(robot.getBasicTimeStep())
-
-# Print all available device names for debugging
-device_count = robot.getNumberOfDevices()
-print("Number of devices:", device_count)
-for i in range(device_count):
-    device = robot.getDeviceByIndex(i)
-    print("Device", i, ":", device.getName())
-
-# Get the wheel motors
-wheel_1 = robot.getDevice("wheel1")
-wheel_2 = robot.getDevice("wheel2")
-wheel_3 = robot.getDevice("wheel3")
-
-# Check if the devices are found
-if wheel_1 is None:
-    print("Device 'wheel1' not found")
-if wheel_2 is None:
-    print("Device 'wheel2' not found")
-if wheel_3 is None:
-    print("Device 'wheel3' not found")
-
-# Set the position to infinity to control velocity
-wheel_1.setPosition(float('inf'))
-wheel_2.setPosition(float('inf'))
-wheel_3.setPosition(float('inf'))
-
-# Set the initial velocity to 0
-wheel_1.setVelocity(0)
-wheel_2.setVelocity(0)
-wheel_3.setVelocity(0)
-
-
-def set_wheel_velocities(velocity1, velocity2, velocity3):
-    wheel_1.setVelocity(velocity1)
-    wheel_2.setVelocity(velocity2)
-    wheel_3.setVelocity(velocity3)
-    
-
-def omhidrive(V, D, R, radius):
-    """
-    Calculate the speeds of three motors for a three-wheeled omnidirectional robot.
-    
-    :param V: Linear velocity magnitude
-    :param D: Direction of the velocity in degrees
-    :param R: Angular velocity (rotation speed)
-    :param radius: Distance from the center of the robot to the wheels
-    :return: Speeds of the three motors
-    """
-    # Convert direction to radians
-    dirrad = math.radians(D)
-    
-    # Calculate the components of the velocity
-    V_x = V * math.cos(dirrad)
-    V_y = V * math.sin(dirrad)
-    print(f"V x speed: {V_x}")
-    print(f"V y speed: {V_y}")
-    
-    # Wheel angles (in radians)
-    angles = [math.radians(0), math.radians(120), math.radians(240)]
-    
-    # Calculate motor speeds using the provided formulas
-    spdeA = V_x * math.cos(angles[0]) + V_y * math.sin(angles[0]) + R * radius
-    spdeB = V_x * math.cos(angles[1]) + V_y * math.sin(angles[1]) + R * radius
-    spdeC = V_x * math.cos(angles[2]) + V_y * math.sin(angles[2]) + R * radius
-    
-    print(f"Motor A speed: {spdeA}")
-    print(f"Motor B speed: {spdeB}")
-    print(f"Motor C speed: {spdeC}")
-    
-    # Assuming set_wheel_velocities is a function to set the speeds of the motors
-    set_wheel_velocities(spdeA, spdeB, spdeC)
-
-# Main loop:
-while robot.step(timestep) != -1:
-
-    omhidrive(5, 0, 0, 0.188)
-\ No newline at end of file