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sidebar - simulator and resources
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‎_data/sidebar_tree.yaml

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title: Power Board API
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- url: /programming/servos
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title: Servo Board API
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- url: /programming/arduino/
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title: Arduino API
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tree:
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- url: /programming/arduino/custom_firmware
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title: Custom Firmware
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- url: /programming/vision/
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title: Vision
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tree:
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title: Position
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- url: /programming/vision/orientation
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title: Orientation
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- url: /programming/arduino/
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title: Arduino API
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tree:
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- url: /programming/arduino/custom_firmware
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title: Custom Firmware
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- url: /programming/cheat_sheet
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title: API Quick Reference
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- url: /programming/simulator_programming
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title: Simulator Programming
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- url: /rules/
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title: Rules
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tree:
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- url: /rules/code_of_conduct
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title: Code Of Conduct
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- url: /rules/archive
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title: Game Rules Archive
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- url: /rules/safety_regulations
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title: Safety Regulations
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- url: /simulator/
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title: Simulator
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tree:
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- url: /simulator/programming/
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title: Programming
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- url: /rules/archive
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title: Game Rules Archive
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- url: /troubleshooting/
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title: Troubleshooting
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tree:
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tree:
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- url: /tutorials/assembly
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title: Assembly
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- url: /tutorials/python
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title: Python
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- url: /tutorials/getting_code_on_the_robot
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title: Getting Code on the Robot
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- url: /tutorials/basic_motor_control
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title: Basic Motor Control
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- url: /tutorials/microgames
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title: Microgames
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- url: /tutorials/python
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title: Python
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- url: /tutorials/editors/
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title: Code Editors
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tree:
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- url: /tutorials/editors/pycharm
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title: PyCharm
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- url: /tutorials/editors/vscode
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title: Visual Studio Code
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- url: /tutorials/setting_up_simulator
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title: Setting up the simulator
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- url: /tutorials/using_the_simulator
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title: Using the simulator
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- url: /competitor_resources/
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title: Resources
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tree:
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- url: /competitor_resources/microgames
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title: Microgames
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- url: /team_admin/
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title: Team Admin
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tree:

‎competitor_resources/index.md

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---
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layout: page
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title: Resources
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---
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Resources
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=========
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TODO

‎tutorials/microgames.md renamed to ‎competitor_resources/microgames.md

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‎simulator/programming/index.md renamed to ‎programming/simulator_programming.md

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---
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redirect_from:
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- /competition-simulator/programming
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layout: page
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title: Simulator Programming
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---
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# Simulator Programming
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Simulator Programming
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=====================
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## Developing your code
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‎tutorials/setting_up_simulator.md

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---
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layout: page
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title: Setting up the simulator
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---
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Setting up the simulator
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========================
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### Prerequisites
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You need to download and install [Webots](https://cyberbotics.com/#download) (the download is around 300MB).
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This is the platform we run our simulation in.
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Versions "R2022b" and "R2023a" of Webots are supported.
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*Note*: versions of the simulation prior to sr2023.3 did not support Webots "R2023a".
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#### Python Version
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You will also need Python installed.
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| Platform | Supported Python Version |
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|----------|--------------------------|
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| Windows | 3.8-3.10 (64-bit) |
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| macOS | 3.8-3.10 |
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| Linux | 3.8-3.10 |
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There are a small number of [external libraries]({{ site.baseurl }}/programming/python/libraries#simulator)
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which will be available to your robot code during the competition. Note that for
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local development you will need to install these yourself.
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### Installing the simulation
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1. Create a directory, perhaps called `simulation` where you will store your robot code.
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2. [Download the simulation](https://github.com/srobo/competition-simulator/releases/download/sr2023.5/competition-simulator-sr2023.5.zip), the latest version is sr2023.5, released on 2023-02-22.
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3. Unzip the simulation as a subdirectory of the directory you created in the first step:
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```
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simulation
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├── competition-simulator-<version>
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│ ├── ...
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│ └─ worlds
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│ └── Arena.wbt
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└── robot.py
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```
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If there is not an existing `robot.py` an example one will be created when the simulator first runs.
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4. Using the Webots IDE, open the `worlds/Arena.wbt` file.
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You may receive a warning about your computer's GPU not being good enough, which can be ignored.
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<div class="info">
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On recent versions of macOS you may need to give Webots permission to access the directory where you have extracted the simulation files.
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</div>
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#### Changing your version of Python
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If webots is not picking any version of Python or is picking up the wrong one then you'll need to change it.
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When this happens Webots will print errors to its console and your robot will not move.
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You will need the full path to the version of Python that you want to use.
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This will vary based on the system you have.
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One way to find the path is by launching the version of Python that you want to
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use and running the following code:
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~~~~~ python
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import sys
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print(sys.executable)
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~~~~~
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On Windows you can set the path to the Python version to use in Webots UI via
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**Tools** &rarr; **Preferences** &rarr; **General** &rarr; **Python command**.
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Your Python path is likely similar to `C:\Users\<USERNAME>\AppData\Local\Programs\Python\Python39\python.exe` when using Python 3.9, where `<USERNAME>` is your login.
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On Mac you can set the path to the Python version to use via **Webots** &rarr; **Preferences** <kbd>⌘</kbd><kbd>,</kbd>.
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Your Python path is likely similar to `/Library/Frameworks/Python.framework/Versions/3.9/bin/python3` when using Python 3.9.
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You'll need to ensure a matching version of Python is installed. If you're still
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having problems, ask for help in [`#simulator-help`][simulator-help] in
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[Discord][discord].
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### Updates
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Occasionally, we may release an update to the simulation. To update, you will need to delete the `competition-simulator-<version>` directory, and re-download it using the above link.
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If you need a specific version of the simulator, or want to see what changes
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have been made with each version, please see the
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[list of releases](https://github.com/srobo/competition-simulator/releases).
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[discord]: {{ site.baseurl }}/team_admin/discord
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[programming-help]: https://discord.com/channels/900501415548579842/900501416269971457
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[simulator-help]: https://discord.com/channels/900501415548579842/900501416269971458

‎tutorials/using_the_simulator.md

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---
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layout: page
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title: Using the simulator
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---
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Using the simulator
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===================
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## Overview
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Within the Webots IDE, there are a few different panels:
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- In the centre of your screen is the 3D simulated view of the arena
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- On the left is a tree hierarchy of all elements in this "world"
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- At the bottom is the console, where output from your robot code will be displayed
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- At the top are your general controls which include the time controls. Press the centre play button to run the simulation at normal speed.
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### Useful links
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- [Camera Controls](https://www.cyberbotics.com/doc/guide/the-3d-window#navigation-in-the-scene)
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- [Graphics settings](https://www.cyberbotics.com/doc/guide/preferences#opengl) (Useful if Webots is running slowly)
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## Time
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In the simulated environment, time advances only at the pace that the simulator
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is run. The relation between this time and the real passage of time depends on a
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couple of factors: the speed the simulation is configured to run at and the
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ability of the computer running the simulation to process it fast enough.
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You can configure and observe the speed the simulator is running at from the toolbar in webots:
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![]({{ site.baseurl }}/images/content/simulator/speed-toolbar.png)
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Here the simulation has run for 13.28 seconds, but is currently paused (the
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speed multiplier shows 0.00×). You could choose to step a single time increment,
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run the simulator at real speed (▶), or run the simulator at various faster
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speeds (▶▶ and ▶▶▶).
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These differences mean that your code will need to use a different mechanism to
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find the current time or to sleep within the simulation. Find out more by
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heading over to the [simulator programming docs](./programming).
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## Programming
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Once you have the simulator installed you can begin [programming your robot](./programming) in the simulator.

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