$"""$midterm$\_$controller controller."""

# You may need to import some classes of the controller module. Ex:

# from controller import Robot, Motor, DistanceSensor

from controller import Robot

import cv$2$

import numpy as np

# create the Robot instance.

robot $=$ Robot$()$

# get the time step of the current world.

timestep $=$ int$($robot$.$getBasicTimeStep$())$

# You should insert a getDevice$-$like function in order to get the

# instance of a device of the robot. Something like:

right$\_$motor $=$ robot.getDevice$(\text{'}$right wheel'$)$

left$\_$motor $=$ robot.getDevice$(\text{'}$left wheel'$)$

left$\_$motor.setPosition$($float$(\text{'}$inf$\text{'}))$

right$\_$motor.setPosition$($float$(\text{'}$inf$\text{'}))$

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

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

camera $=$ robot.getDevice$(\text{'}$camera$\text{'})$

camera.enable$($timestep$)$

# ds $=$ robot.getDevice$(\text{'}$dsname$\text{'})$

# ds$.$enable$($timestep$)$

index $=0$

# Main loop:

# $-$ perform simulation steps until Webots is stopping the controller

while robot.step$($timestep$)!=-1$:

left$\_$motor.setVelocity$(-1\mathrm{.}0)$

right$\_$motor.setVelocity$(1\mathrm{.}0)$

image $=$ camera.getImageArray$()$

# Process sensor data here.

image $=$ np$.$array$($image$)$

image $=$ cv$2.$cvtColor$($np$.$uint$8($image$),$ cv$2.$COLOR$\_$BGR$2$RGB$)$

image $=$ cv$2.$rotate$($image$,$ cv$2.$ROTATE$\_90\_$CLOCKWISE$)$

index $=$ index $+1$

# Read the sensors:

# Enter here functions to read sensor data, like:

# val $=$ ds$.$getValue$()$

# Process sensor data here.

# Enter here functions to send actuator commands, like:

# motor.setPosition$(10\mathrm{.}0)$

pass

# Enter here exit cleanup code.

i have this code can you continue code with this or give me code for this format