from controller import Robot

robot = Robot()

timestep = int(robot.getBasicTimeStep())

time_step = 64

max_speed = 7

#motor

left_motor = robot.getDevice('left wheel motor')

right_motor = robot.getDevice('right wheel motor')

left_motor.setPosition(float('inf'))

right_motor.setPosition(float('inf'))

left_motor.setVelocity(0.0)

right_motor.setVelocity(0.0)

#IR sensor

right_ir = robot.getDevice('RIGHT')

right_ir.enable(time_step)

mid_ir = robot.getDevice('MID')

mid_ir.enable(time_step)

left_ir = robot.getDevice('LEFT')

left_ir.enable(time_step)

#simulation

#main loop:

while robot.step(time_step) != -1:

right_ir_val = right_ir.getValue()

mid_ir_val = mid_ir.getValue()

left_ir_val = left_ir.getValue()

print("left: {} mid: {} right: {}".format(left_ir_val, mid_ir_val, right_ir_val))

left_speed = max_speed

right_speed = max_speed

#Process sensor data

if left_ir_val<600 and right_ir_val<600 mid_ir_val>=600:

left_motor.setVelocity(left_speed)

right_motor.setVelocity(right_speed)

if left_ir_val<600 and right_ir_val>=600 and mid_ir_val>=600:

left_motor.setVelocity(left_speed)

right_motor.setVelocity(0)

if left_ir_val>=600 and right_ir_val<600 and mid_ir_val>=600:

left_motor.setVelocity(0)

right_motor.setVelocity(right_speed)

if left_ir_val>=600 and right_ir_val<600 and mid_ir_val<600:

left_motor.setVelocity(0)

right_motor.setVelocity(right_speed)

if left_ir_val<600 and right_ir_val>=600 and mid_ir_val<600:

left_motor.setVelocity(left_speed)

right_motor.setVelocity(0)

if left_ir_val<600 and right_ir_val<600 and mid_ir_val<600:

left_motor.setVelocity(left_speed)

right_motor.setVelocity(right_speed)

pass

Can anyone write the PID controler code in it? I have used wheels here. Please help me