#include <webots/Motor.hpp>

from controller import Motor

import com.cyberbotics.webots.controller.Motor;

在 MATLAB 控制器中你不需要包含 API，Webots 会替你完成这件事。

// initialize motors
Motor *wheels[4];
char wheelsNames[4][8] = {"wheel1", "wheel2", "wheel3", "wheel4"};
for (int i = 0; i < 4 ; i++)
  wheels[i] = robot->getMotor(wheelsNames[i]);

# initialize motors
wheels = []
wheelsNames = ['wheel1', 'wheel2', 'wheel3', 'wheel4']
for name in wheelsNames:
    wheels.append(robot.getDevice(name))

// initialize motors
Motor[4] wheels;
String[] wheelsNames = {"wheel1", "wheel2", "wheel3", "wheel4"};
for (int i = 0; i < wheelsNames.length; i++)
  wheels[i] = robot.getMotor(wheelsNames[i]);

% initialize motors
wheels = [];
wheels_names = [ "wheel1", "wheel2", "wheel3", "wheel4" ];
for i = 1:4
  wheels(i) = wb_robot_get_device(convertStringsToChars(wheels_names(i)));
end

double speed = -1.5; // [rad/s]
wheels[0]->setPosition(INFINITY);
wheels[0]->setVelocity(speed);

speed = -1.5  # [rad/s]
wheels[0].setPosition(float('inf'))
wheels[0].setVelocity(speed)

double speed = -1.5; // [rad/s]
wheels[0].setPosition(Double.POSITIVE_INFINIT);
wheels[0].setVelocity(speed);

speed = -1.5; % [rad/s]
wb_motor_set_position(wheels(1), inf);
wb_motor_set_velocity(wheels(1), speed);

#include <webots/DistanceSensor.hpp>
#include <webots/Motor.hpp>
#include <webots/Robot.hpp>

using namespace webots;

int main(int argc, char **argv) {
  Robot *robot = new Robot();
  int timeStep = (int)robot->getBasicTimeStep();
  DistanceSensor *ds[2];
  char dsNames[2][10] = {"ds_right", "ds_left"};
  for (int i = 0; i < 2; i++) {
    ds[i] = robot->getDistanceSensor(dsNames[i]);
    ds[i]->enable(timeStep);
  }
  Motor *wheels[4];
  char wheels_names[4][8] = {"wheel1", "wheel2", "wheel3", "wheel4"};
  for (int i = 0; i < 4; i++) {
    wheels[i] = robot->getMotor(wheels_names[i]);
    wheels[i]->setPosition(INFINITY);
    wheels[i]->setVelocity(0.0);
  }
  int avoidObstacleCounter = 0;
  while (robot->step(timeStep) != -1) {
    double leftSpeed = 1.0;
    double rightSpeed = 1.0;
    if (avoidObstacleCounter > 0) {
      avoidObstacleCounter--;
      leftSpeed = 1.0;
      rightSpeed = -1.0;
    } else { // read sensors
      for (int i = 0; i < 2; i++) {
        if (ds[i]->getValue() < 950.0)
          avoidObstacleCounter = 100;
      }
    }
    wheels[0]->setVelocity(leftSpeed);
    wheels[1]->setVelocity(rightSpeed);
    wheels[2]->setVelocity(leftSpeed);
    wheels[3]->setVelocity(rightSpeed);
  }
  delete robot;
  return 0;  // EXIT_SUCCESS
}

from controller import Robot

robot = Robot()
timestep = int(robot.getBasicTimeStep())
ds = []
dsNames = ['ds_right', 'ds_left']
for i in range(2):
    ds.append(robot.getDevice(dsNames[i]))
    ds[i].enable(timestep)
wheels = []
wheelsNames = ['wheel1', 'wheel2', 'wheel3', 'wheel4']
for i in range(4):
    wheels.append(robot.getDevice(wheelsNames[i]))
    wheels[i].setPosition(float('inf'))
    wheels[i].setVelocity(0.0)
avoidObstacleCounter = 0
while robot.step(timestep) != -1:
    leftSpeed = 1.0
    rightSpeed = 1.0
    if avoidObstacleCounter > 0:
        avoidObstacleCounter -= 1
        leftSpeed = 1.0
        rightSpeed = -1.0
    else:  # read sensors
        for i in range(2):
            if ds[i].getValue() < 950.0:
                avoidObstacleCounter = 100
    wheels[0].setVelocity(leftSpeed)
    wheels[1].setVelocity(rightSpeed)
    wheels[2].setVelocity(leftSpeed)
    wheels[3].setVelocity(rightSpeed)

import com.cyberbotics.webots.controller.Robot;
import com.cyberbotics.webots.controller.DistanceSensor;
import com.cyberbotics.webots.controller.Motor;

public class FourWheelsCollisionAvoidance {
  public static void main(String[] args) {
    Robot robot = new Robot();
    int timeStep = (int) robot.getBasicTimeStep();
    DistanceSensor[] ds = new DistanceSensor[2];
    String[] dsNames = {"ds_right", "ds_left"};
    for (int i = 0; i < 2; i++) {
      ds[i] = robot.getDistanceSensor(dsNames[i]);
      ds[i].enable(timeStep);
    }
    Motor[] wheels = new Motor[4];
    String[] wheelsNames = {"wheel1", "wheel2", "wheel3", "wheel4"};
    for (int i = 0; i < 4; i++) {
      wheels[i] = robot.getMotor(wheelsNames[i]);
      wheels[i].setPosition(Double.POSITIVE_INFINITY);
      wheels[i].setVelocity(0.0);
    }
    int avoidObstacleCounter = 0;
    while (robot.step(timeStep) != -1) {
      double leftSpeed = 1.0;
      double rightSpeed = 1.0;
      if (avoidObstacleCounter > 0) {
        avoidObstacleCounter--;
        leftSpeed = 1.0;
        rightSpeed = -1.0;
      } else { // read sensors
        for (int i = 0; i < 2; i++) {
          if (ds[i].getValue() < 950.0)
            avoidObstacleCounter = 100;
        }
      }
      wheels[0].setVelocity(leftSpeed);
      wheels[1].setVelocity(rightSpeed);
      wheels[2].setVelocity(leftSpeed);
      wheels[3].setVelocity(rightSpeed);
    }
  }
}

function four_wheeled_collision_avoidance

TIME_STEP = wb_robot_get_basic_time_step();
ds = [];
ds_names = [ "ds_right", "ds_left" ];
for i = 1:2
  ds(i) = wb_robot_get_device(convertStringsToChars(ds_names(i)));
  wb_distance_sensor_enable(ds(i), TIME_STEP);
end
wheels = [];
wheels_names = [ "wheel1", "wheel2", "wheel3", "wheel4" ];
for i = 1:4
  wheels(i) = wb_robot_get_device(convertStringsToChars(wheels_names(i)));
  wb_motor_set_position(wheels(i), inf);
  wb_motor_set_velocity(wheels(i), 0.0);
end
avoid_obstacle_counter = 0;

while wb_robot_step(TIME_STEP) ~= -1
  left_speed = 1.0;
  right_speed = 1.0;
  if avoid_obstacle_counter > 0
    avoid_obstacle_counter = avoid_obstacle_counter - 1;
    left_speed = 1.0;
    right_speed = -1.0;
  else % read sensors
    for i = 1:2
      if wb_distance_sensor_get_value(ds(i)) < 950.0
        avoid_obstacle_counter = 100;
      end
    end
  end
  wb_motor_set_velocity(wheels(1), left_speed);
  wb_motor_set_velocity(wheels(2), right_speed);
  wb_motor_set_velocity(wheels(3), left_speed);
  wb_motor_set_velocity(wheels(4), right_speed);
  % if your code plots some graphics, it needs to flushed like this:
  drawnow;
end