Following are related blog posts:
- 2024-08-07: Robot Simulator Updated to VPython 7.6.5
- 2010-12-04: Robot Simulator and Turtle Graphics, Revisited
- 2010-11-27: A Robot Simulator Using VPython
- 2010-10-12: Visual Python
This Python module simulates a three-wheeled robot that can execute Logo-like motion commands. The robot is modeled after the Scribbler, with a cylindrical chassis with a hole in its center for inserting a colored marker, which leaves a trail as the robot moves.
With just this functionality, the module may be used as a turtle graphics engine. The speed of animation of the robot's motion is configurable, from "realistic" to "instantaneous." And thanks to VPython, users can execute commands a line at a time from the interpreter prompt, and rotate and zoom the 3D view of the robot, even while it is moving.
In addition, the robot has a stall sensor and configurable proximity sensors
for detecting and navigating around obstacles, such as walls or other robots.
There are convenience functions, table() for creating a simple table top
with four walled edges, and maze() for creating a simply connected maze.
Install VPython e.g. with pip install vpython. This
code has been tested with VPython version 7.6.5 and Python versions 3.11 and
3.12.
from vturtle import *
robot = Robot(obstacles=maze())
robot.forward(200) # run into wall
stalled = robot.stalled()
| Command | Description | Example |
|---|---|---|
| forward | Move forward (cm) | robot.forward(30) |
| backward | Move backward (cm) | robot.backward(30) |
| left | Turn left (deg) | robot.left(90) |
| right | Turn right (deg) | robot.right(90) |
| pen_up | Pick up drawing pen | robot.pen_up() |
| pen_down | Put down drawing pen | robot.pen_down() |
| color | Get drawing pen color (r, g, b) | c = robot.color() |
| Set drawing pen color | robot.color(color.red) |
|
| clear | Clear all drawing trails | robot.clear() |
| show | Show robot | robot.show() |
| hide | Hide robot | robot.hide() |
| position | Get current (x,y) position (cm) | x, y = robot.position() |
| Move to (x,y) position (cm) | robot.position(60, 60) |
|
| heading | Get current heading (deg) | h = robot.heading() |
| Turn to heading (deg) | robot.heading(270) |
|
| distance | Get distance to (x,y) position (cm) | d = robot.distance(-30, -30) |
| towards | Get heading to (x,y) position (deg) | h = robot.towards(-30, -30) |
| speed | Get robot speed (cm/s) | s = robot.speed() |
| Set robot speed (cm/s) | robot.speed(30) |
|
| Set robot speed to "instantaneous" | robot.speed(inf) |
|
| fast_forward | Get animation speedup | ff = robot.fast_forward() |
| Set animation speedup | robot.fast_forward(2) |
|
| Set animation to "fastest possible" | robot.fast_forward(inf) |
|
| stalled | Get state of stall sensor (True/False) | s = robot.stalled() |
| sensor | Get state of proximity sensor id | s = robot.sensor(id) |
| Get state of left proximity sensor | s = robot.sensor(0) |
|
| Get state of front proximity sensor | s = robot.sensor(1) |
|
| Get state of right proximity sensor | s = robot.sensor(2) |
|
| add_sensor | Add proximity sensor at bearing (deg) | id = robot.add_sensor(180) |
| sensor_range | Get proximity sensor range (cm) | r = robot.sensor_range() |
| Set proximity sensor range (cm) | robot.sensor_range(5) |
|
| add_obstacle | Register obstacle | robot.add_obstacle(Wall((75, -75), (75, 75))) |