1 files changed, 53 insertions, 0 deletions
diff --git a/simulation/test.c b/simulation/test.c
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+++ b/simulation/test.c
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+//controller code for the webots exampkle omni wheels
+#include <stdio.h>
+#include <webots/motor.h>
+#include <webots/robot.h>
+
+static WbDeviceTag wheels[3];
+
+int main() {
+  int i;
+
+  const double angle = 0.5*3.14;  //the angle [rad]
+  const double sped = 0;          //the speed [?]
+  const double angulairspeed = 3.14; //angulair speed [?/s]
+
+  // Initialize Webots
+  wb_robot_init();
+
+  //start motors
+  for (i = 0; i < 3; i++) {
+    char name[64];
+    sprintf(name, "wheel%d", i + 1);
+    wheels[i] = wb_robot_get_device(name);
+    wb_motor_set_position(wheels[i], INFINITY); // Set wheels to initial position
+  }
+
+  //calculate needed speeds per wheel
+  const double sx = sin(angle)*sped;            //convert angle and speed vector lengt to X-speed vector
+  const double sy = cos(angle)*sped;            //convert angle and speed vector lengt to Y-speed vector
+  const double a = (0.5*sx) - (0.8660254*sy) + angulairspeed;   //convert X and Y speed vecors + angulair speed to the desired speed for wheel A
+  const double b = -sx + angulairspeed;                         //convert X and Y speed vecors + angulair speed to the desired speed for wheel B
+  const double c = (0.5*sx) + (0.8660254*sy) + angulairspeed;   //convert X and Y speed vecors + angulair speed to the desired speed for wheel C
+  //print values for debuging.
+  printf("val a %f\n", a);
+  printf("val b %f\n", b);
+  printf("val c %f\n", c);
+  printf("val speed X %f\n", sx);
+  printf("val speed Y %f\n", sy);
+
+  //enter calculated speeds into robot
+  const double wheel_speeds[] = {b, a, c};
+  while (1) {
+    for (i = 0; i < 3; i++) {
+      double speed = wheel_speeds[i];
+      wb_motor_set_velocity(wheels[i], speed);
+
+      // After setting the speed, move to next step
+      wb_robot_step(8);
+    }
+  }
+
+  return 0;
+}
+