Hello Lab

Lab 1 - Wall Follower

Code due: Immediately before your demo(s), Wednesday, September 16 at the latest

Report due: Thursday, September 17, 23:59 EDT (Montréal time)

This is the repository that contains the required files for the wall following lab. For lab objectives, demo and report requirements, and submission instructions, see detailed instructions on MyCourses.

Implementation details

Although you only need to implement one method, controller() in Lab1.java, you should still go over the other code to understand the program structure, which we briefly outline below:

Lab1.java is the main entry point for your program. The main method sets up the program and starts the ultrasonic controller in a second thread. The main simulation runs steps until Webots indicates that we're done (eg, when we stop the simulation using the interface), then stops.

The ultrasonic controller controls the robot's movements based on data from the ultrasonic sensor. It is run in a second thread, where an infinite loop continuously does the following:

• Reads the distance from the ultrasonic sensor and calls your controller() method, which calculates and updates the motor speeds based on that distance. This is what you need to implement.
• Sets the motor speeds to what you just calculated. This already done in setMotorSpeeds(), so you should not set them again in the controller() method.
• Sleeps for a predefined time period POLL_SLEEP_TIME, (which you can experiment with).