11 files changed, 121 insertions, 33 deletions
diff --git a/simulation/controllers/Soccer_Ball/Soccer_Ball.py b/simulation/controllers/Soccer_Ball/Soccer_Ball.py
new file mode 100644
index 0000000..70a26d7
--- /dev/null
+++ b/simulation/controllers/Soccer_Ball/Soccer_Ball.py
@@ -0,0 +1,18 @@
+from controller import Robot, Emitter
+import time
+
+robot = Robot()
+emitter = robot.getDevice("emitter")
+
+# Time step of the simulation
+timestep = int(robot.getBasicTimeStep())
+
+# Pulse emission interval (e.g., 1 pulse per second)
+pulse_interval = 1.0
+
+# Main loop
+while robot.step(timestep) != -1:
+    current_time = robot.getTime()
+    if int(current_time) % pulse_interval == 0:
+        emitter.send(b'\x01')  # Emit a single byte pulse
+    time.sleep(1.0 / pulse_interval)
diff --git a/simulation/protos/Ball.proto b/simulation/protos/Ball.proto
index c992189..14726f1 100644
--- a/simulation/protos/Ball.proto
+++ b/simulation/protos/Ball.proto
@@ -18,11 +18,9 @@ PROTO Ball [
   field SFFloat    angularDamping  0.33           # Defines the angular damping of the ball.
   field SFString   contactMaterial "default"      # Is `Solid.contactMaterial`.
 ]
-{
-  Solid {
+Robot {
     translation IS translation
     rotation IS rotation
-    children [
       DEF BALL_SHAPE Shape {
         appearance PBRAppearance {
             baseColor IS color
diff --git a/simulation/protos/BallCandy.proto b/simulation/protos/BallCandy.proto
new file mode 100644
index 0000000..08438fc
--- /dev/null
+++ b/simulation/protos/BallCandy.proto
@@ -0,0 +1,38 @@
+#VRML_SIM R2024a utf8
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/BallCandy.proto
+# keywords: robot/accessory
+
+PROTO BallCandy [
+  field SFVec3f translation 0 0 0.0162
+  field SFRotation rotation 0 0 1 0
+  field SFString name "ball candy"
+  field SFColor color 0.9 0.1 0.1
+]
+{
+Solid {
+  translation IS translation
+  rotation IS rotation
+  children [
+    Shape {
+      appearance PBRAppearance {
+        baseColor IS color
+        roughness 0.3
+        metalness 0
+      }
+      geometry DEF CANDY_BALL_SHAPE Sphere {
+        radius 0.0325
+        subdivision 3
+      }
+    }
+  ]
+  name IS name
+  model "ball candy"
+  boundingObject USE CANDY_BALL_SHAPE
+  physics Physics {
+    density -1
+    mass 0.16
+  }
+}
+}
diff --git a/simulation/protos/field.proto b/simulation/protos/field.proto
deleted file mode 100644
index aa96ff5..0000000
--- a/simulation/protos/field.proto
+++ /dev/null
@@ -1,13 +0,0 @@
-#VRML_SIM R2023b utf8
-# Describe the functionality of your PROTO here.
-
-
-PROTO field [
-  field SFBool castShadows TRUE
-]
-{
-  CadShape {
-    castShadows IS castShadows
-    url "/home/atim/Documenten/robotica/3dfiles/soccerfield.obj"
-  }
-}
diff --git a/simulation/protos/icons/BallCandy.png b/simulation/protos/icons/BallCandy.png
new file mode 100644
index 0000000..6a3a0a1
--- /dev/null
+++ b/simulation/protos/icons/BallCandy.png
diff --git a/simulation/protos/soccer_ball.proto b/simulation/protos/soccer_ball.proto
new file mode 100644
index 0000000..629df1a
--- /dev/null
+++ b/simulation/protos/soccer_ball.proto
@@ -0,0 +1,29 @@
+#VRML_SIM R2024a utf8
+# Describe the functionality of your PROTO here.
+
+EXTERNPROTO "/home/abel/Documents/robotica/simulation/protos/Ball.proto"
+
+PROTO soccer_ball [
+  field SFVec3f translation 0 0 0.1625
+  field SFRotation rotation 0 0 1 0
+  field SFString name "soccer_ball"
+  field SFString controller ""
+]
+{
+  Ball {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    children [
+      Emitter {
+        channel 1  # Assign an appropriate channel number
+        range -1   # Setting range to -1 makes it unlimited
+        aperture 6.28319  # 2 * PI radians for omnidirectional
+        beamWidth 6.28319 # 2 * PI radians for omnidirectional
+        dataSize 1  # Size of the data packet
+        dataRate 1  # Rate of data emission in bits per second
+      }
+    ]
+    controller IS controller
+  }
+}
diff --git a/simulation/protos/soccerballrbc.proto b/simulation/protos/soccerballrbc.proto
new file mode 100644
index 0000000..7a744d0
--- /dev/null
+++ b/simulation/protos/soccerballrbc.proto
@@ -0,0 +1,16 @@
+#VRML_SIM R2024a utf8
+# Describe the functionality of your PROTO here.
+
+
+PROTO soccerballrbc [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "emitter"
+]
+{
+  Emitter {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+  }
+}
diff --git a/simulation/protos/three_omniwheel.proto b/simulation/protos/three_omniwheel.proto
index 14f3f61..7643587 100644
--- a/simulation/protos/three_omniwheel.proto
+++ b/simulation/protos/three_omniwheel.proto
@@ -731,12 +731,12 @@ DEF OMNI_WHEELS Robot {
       }
     }
     Camera {
-      translation 0 0 5
-      rotation 0 1 0 1.5708
-      fieldOfView 3.14
+      translation 0 0 2
+      fieldOfView 0.5
       width 640
-      height 640
-      projection "spherical"
+      height 480
+      exposure 1.0
+      projection "planar"
     }
     DEF BODY_TRANS Pose {
       translation 0 0 0.03
diff --git a/simulation/worlds/.soccer.jpg b/simulation/worlds/.soccer.jpg
index 58cbefe..06e82b2 100644
--- a/simulation/worlds/.soccer.jpg
+++ b/simulation/worlds/.soccer.jpg
diff --git a/simulation/worlds/.soccer.wbproj b/simulation/worlds/.soccer.wbproj
index 34fdd72..0f1697c 100644
--- a/simulation/worlds/.soccer.wbproj
+++ b/simulation/worlds/.soccer.wbproj
@@ -1,10 +1,10 @@
-Webots Project File version R2023b
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e000000000000000014000000000000000000000001000001f60000038efc0200000001fb0000001400540065007800740045006400690074006f007201000000170000038e0000008900ffffff0000000300000780000000cdfc0100000002fb0000000e0043006f006e0073006f006c00650100000000000005660000000000000000fc00000000000007800000006900fffffffa000000000100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000006900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000000000000000000005880000038e00000001000000020000000100000008fc00000000
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e000000000000000014000000000000000000000001000001f400000391fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003910000008900ffffff0000000300000780000000d5fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000005660000000000000000fc00000000000007800000006900fffffffa000000000100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff0000006900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000ffffffff00000000000000000000058a0000039100000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000100000003480100000002010000000100
-sceneTreePerspectives: 000000ff00000001000000030000001d000000c0000000fa0100000002010000000200
+sceneTreePerspectives: 000000ff00000001000000030000001f000000c0000000fa0100000002010000000200
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
 textFiles: 2 "controllers/OMHI_test/OMHI_test.py" "protos/three_omniwheel.proto" "protos/Ball.proto"
 consoles: Console:All:All
-renderingDevicePerspectives: robot:camera;1;0.33125;0.00518135;0
+renderingDevicePerspectives: robot:camera;1;0.564583;0;0
diff --git a/simulation/worlds/soccer.wbt b/simulation/worlds/soccer.wbt
index 923ea36..af3ec77 100644
--- a/simulation/worlds/soccer.wbt
+++ b/simulation/worlds/soccer.wbt
@@ -1,31 +1,33 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2024a utf8
 
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
 EXTERNPROTO "../protos/three_omniwheel.proto"
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/samples/contests/robocup/protos/RobocupSoccerField.proto"
-EXTERNPROTO "../protos/Ball.proto"
 
 WorldInfo {
 }
 Viewpoint {
-  orientation -0.03595733212996323 0.5262633829020815 0.8495610172804262 6.193238178192842
-  position -2.037531963006127 0.0964241547726655 0.3894014354770412
+  orientation 0.2328975714773309 -0.7440385747903977 -0.6262310439636758 5.334957372457696
+  position -0.6838588961447356 -0.458946565376689 0.9090251685961268
 }
 TexturedBackground {
+  texture "stadium_dry"
 }
 TexturedBackgroundLight {
+  texture "stadium"
 }
 DEF Robot three_omniwheel {
   translation 0.273203 -0.0732043 0.169476
   rotation 0 0 -1 -0.7854153071795862
   controller "OMHI_test"
 }
+PointLight {
+  attenuation 0 0 1
+  intensity 20
+  location 0 0.3 20
+}
 RobocupSoccerField {
   translation -0.031783 -0.00794585 -1.82077e-14
   rotation 0 0 -1 0.0850848
 }
-Ball {
-  translation -0.51 0 0.1625
-  color 0.533333 0.541176 0.521569
-}