Laser visualization update rate differs from distance sensor rays cyb…

…erbotics#5492 (cyberbotics#5801) * Resolve cyberbotics#5492: Updated controller time step - laser_pointer.c * Resolve cyberbotics#5492: Updated controller time step to robot basic time step - laser_pointer.c * Resolve cyberbotics#5492: Updated controller time step - laser_pointer.c * Resolve cyberbotics#5492: Clang format correction --------- Co-authored-by: Stefania Pedrazzi <[email protected]>
SahaRobotik · Jan 31, 2023 · 045000f · 045000f
1 parent 217a947
commit 045000f
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/projects/samples/devices/controllers/laser_pointer/laser_pointer.c b/projects/samples/devices/controllers/laser_pointer/laser_pointer.c
@@ -25,20 +25,19 @@
 #include <webots/motor.h>
 #include <webots/robot.h>
 
-#define TIME_STEP 64
-
 int main() {
   // initialize webots stuff
   wb_robot_init();
+  const int time_step = wb_robot_get_basic_time_step();
 
   // get camera tag and initialize
   WbDeviceTag camera = wb_robot_get_device("camera");
-  wb_camera_enable(camera, TIME_STEP);
+  wb_camera_enable(camera, time_step);
 
   WbDeviceTag laser0 = wb_robot_get_device("laser0");
   WbDeviceTag laser1 = wb_robot_get_device("laser1");
-  wb_distance_sensor_enable(laser0, TIME_STEP);
-  wb_distance_sensor_enable(laser1, TIME_STEP);
+  wb_distance_sensor_enable(laser0, time_step);
+  wb_distance_sensor_enable(laser1, time_step);
 
   // get a handler to the motors and set target position to infinity (speed control).
   WbDeviceTag left_motor = wb_robot_get_device("left wheel motor");
@@ -49,7 +48,7 @@ int main() {
   wb_motor_set_velocity(right_motor, 0.0);
 
   // control loop
-  while (wb_robot_step(TIME_STEP) != -1) {
+  while (wb_robot_step(time_step) != -1) {
     // update image
     (void)wb_camera_get_image(camera);