#include

#include

#include

#define TIME$\_$STEP $64//$ Time step in milliseconds, determines how often the simulation steps

#define MAX$\_$SPEED $6\mathrm{.}28//$ Maximum speed for the motors $($in radians per second$)$

#define THRESHOLD $80//$ Threshold for detecting obstacles using the proximity sensors

using namespace webots;

int main$()\{$

$//$ Create a robot object

$$ Robot $*$robot $=$ new Robot$()$;

$//$ Get the motors for the left and right wheels

$$ Motor $*$left$\_$motor $=$ robot$->$getMotor$("$left wheel motor"$)$;

$$ Motor $*$right$\_$motor $=$ robot$->$getMotor$("$right wheel motor"$)$;

$//$ Set the motors to infinite position mode $($means they will rotate freely$)$

$$ left$\_$motor$->$setPosition$($INFINITY$)$;

$$ right$\_$motor$->$setPosition$($INFINITY$)$;

$//$ Initialize the motor speeds to zero

$$ left$\_$motor$->$setVelocity$(0\mathrm{.}0)$;

$$ right$\_$motor$->$setVelocity$(0\mathrm{.}0)$;

$//$ Create an array of proximity sensors to detect obstacles

$$ DistanceSensor $*$prox$\_$sensors$[8]$;

$$ for $($int i $=0$; i $<8$; $++$i$)\{$

$$ std::string ps$\_$name $="$ps$"+$ std::to$\_$string$($i$)$; $//$ Create sensor names $("$ps$0","$ps$1",...,"$ps$7")$

$$ prox$\_$sensors$[$i$]=$ robot$->$getDistanceSensor$($ps$\_$name$)$; $//$ Get the sensor by name

$$ prox$\_$sensors$[$i$]->$enable$($TIME$\_$STEP$)$; $//$ Enable the sensor with the given time step

$\}$

$//$ Initialize the left and right wheel speeds to maximum speed

$$ double left$\_$speed $=$ MAX$\_$SPEED;

$$ double right$\_$speed $=$ MAX$\_$SPEED;

$//$ Main loop, will continue as long as the robot is running

$$ while $($robot$->$step$($TIME$\_$STEP$)!=-1)\{$

$//$ Read the proximity sensors to check for obstacles

$$ bool left$\_$wall $=$ prox$\_$sensors$[5]->$getValue$()>$ THRESHOLD; $//$ Check for wall on the left side

$$ bool left$\_$corner $=$ prox$\_$sensors$[6]->$getValue$()>$ THRESHOLD; $//$ Check for corner on the left side

$$ bool right$\_$wall $=$ prox$\_$sensors$[7]->$getValue$()>$ THRESHOLD; $//$ Check for wall on the right side

$$ bool front$\_$wall $=$ prox$\_$sensors$[0]->$getValue$()>$ THRESHOLD; $//$ Check for wall in front

$//$ If there is a wall in front, stop and turn

$$ if $($front$\_$wall$)\{$

$$ left$\_$speed $=$ MAX$\_$SPEED ; $//$ Set the left motor to maximum speed

$$ right$\_$speed $=-$MAX$\_$SPEED; $//$ Set the right motor to reverse direction $($turning$)$

$\}$ else $\{$

$//$ If there is no wall in front, move forward

$$ if $($left$\_$wall$)\{$

$$ left$\_$speed $=$ MAX$\_$SPEED; $//$ Move forward with maximum speed

$$ right$\_$speed $=$ MAX$\_$SPEED; $//$ Move forward with maximum speed

$\}$

$$ else $\{$

$$ left$\_$speed $=$ MAX$\_$SPEED$/8$; $//$ Move with reduced speed on the left

$$ right$\_$speed $=$ MAX$\_$SPEED; $//$ Move forward with maximum speed

$\}$

$//$ If there's a corner on the left, adjust the speeds to avoid collision

$$ if $($left$\_$corner$)\{$

$$ left$\_$speed $=$ MAX$\_$SPEED; $//$ Move forward with maximum speed

$$ right$\_$speed $=$ MAX$\_$SPEED$/8$; $//$ Reduce speed on the right to avoid the corner

$\}$

$\}$

$//$ Set the motors to the calculated speeds

$$ left$\_$motor$->$setVelocity$($left$\_$speed$)$;

$$ right$\_$motor$->$setVelocity$($right$\_$speed$)$;

$\}$

$//$ Clean up and delete the robot object at the end of the program

$$ delete robot;

$$ return $0$;

$\}$ Please explain the final results of the code in detail in academic writing. Please explain which is more appropriate to use, whether Inverse or Forward, and write the question and its solution in detail.