Question

我有一辆进行Webots模拟的机器人汽车，每当我按键盘上的一个键时，都需要停在一个地方。因此，如果按1，它应该停在坐标X = 140和坐标Z = 50的位置。在此代码上，速度使用UP和DOWN箭头进行上下移动。在情况1下，我可能必须插入if语句，但不知道如何实现。机器人始终在一条线上运行，并且只有在键盘命令提示时才应停止或动作。下面给出的代码只是一个片段，如有必要，我可以提供完整的代码。我是新手，刚开始学习C语言。

// GPS
WbDeviceTag gps;
double gps_coords[3] = {0.0, 0.0, 0.0};
double gps_speed = 0.0;

// misc variables
double speed = 0.0;
double steering_angle = 0.0;
int manual_steering = 0;
bool autodrive = true;

void print_help() {
  printf("You can drive this car!\n");
  printf("Select the 3D window and then use the cursor keys to:\n");
  printf("
/
- steer\n");
  printf("[UP]/[DOWN] - accelerate/slow down\n");
}

void set_autodrive(bool onoff) {
  if (autodrive == onoff)
    return;
  autodrive = onoff;
  switch (autodrive) {
    case false:
      printf("switching to manual drive...\n");
      printf("hit [A] to return to auto-drive.\n");
      break;
    case true:
      if (has_camera)
        printf("switching to auto-drive...\n");
      else
        printf("impossible to switch auto-drive on without camera...\n");
      break;
  }
}


void check_keyboard() {
  int key = wb_keyboard_get_key();
  switch (key) {
    case WB_KEYBOARD_UP:
      set_speed(speed + 5.0);
      break;
    case WB_KEYBOARD_DOWN:
      set_speed(speed - 5.0);
      break;
    case WB_KEYBOARD_RIGHT:
      change_manual_steer_angle(+1);
      break;
    case WB_KEYBOARD_LEFT:
      change_manual_steer_angle(-1);
      break;
    case 'A':
      set_autodrive(true);
      break;
    case '1':
      if (gps_coords[X] == "104.9" && gps_coords[Z] == "48.9") {
      set_speed(speed - speed);
  }
     break;
}

机器人技术的C编程

0 个答案: