Webots Controller Programming

Use this skill to implement and debug standard robot controllers in Webots. Focus on the controller process model, control-loop timing, device lookup, sensor/actuator data flow, and language-specific setup. Treat the simulation loop as the primary control structure.

Load references/controller_api_reference.md when exact API signatures, language mappings, Makefile templates, or termination semantics are needed.

Follow the Controller Architecture Model

• Run each controller as a separate process from the Webots simulator process.
• Bind exactly one controller to each Robot node through the Robot field controller.
• Place controller source in controllers/<controller_name>/.
• Match file naming to controller naming conventions per language.

Typical structure: