Skid-Steer Car Simulator

Track width = 0.2m, wheelbase = 0.4m

w (track width, m)

l (wheelbase, m)

max wheel speed (m/s)

wheel visual scale

trail points

max dt (s)

Code Control

// API demo: line follower using sensors + memory + logging.
// Uses: api.getSensor, api.setWheelSpeeds, api.clamp, api.mem.*, api.log

const left = api.getSensor("L")?.value || 0;
const center = api.getSensor("C")?.value || 0;
const right = api.getSensor("R")?.value || 0;

const prevError = api.mem.get("prevError", 0);
const lastTurn = api.mem.get("lastTurn", 1);
const wasLost = api.mem.get("wasLost", false);

const hasLine = Math.max(left, center, right) > 0.1;

if (hasLine) {
  const error = (right - left) + 0.25 * (right - center) - 0.25 * (left - center);
  const dError = error - prevError;

const base = 0.32;
  const kP = 1.55;
  const kD = 0.65;
  const turn = kP * error + kD * dError;

const leftCmd = api.clamp(base + turn, -1.2, 1.2);
  const rightCmd = api.clamp(base - turn, -1.2, 1.2);
  api.setWheelSpeeds(leftCmd, rightCmd, leftCmd, rightCmd);

api.mem.set("prevError", error);
  api.mem.set("lastTurn", turn >= 0 ? 1 : -1);
  api.mem.set("wasLost", false);
} else {
  // Reacquire behavior when all sensors miss the line.
  const dir = lastTurn;
  const pivot = 0.30;
  api.setWheelSpeeds(dir * pivot, -dir * pivot, dir * pivot, -dir * pivot);

if (!wasLost) {
    api.log("line lost -> pivot search", dir > 0 ? "left" : "right");
    api.mem.set("wasLost", true);
  }
}

Code mode disabled.

Full API List

api.time
api.dt
api.pose
api.wheelSpeeds
api.sensors
api.getSensor(name)
api.setWheelSpeed(name, value)
api.setWheelSpeeds(vFL, vFR, vRL, vRR)
api.clamp(value, min, max)
api.log(...args)
api.clearLog()
api.mem.get(key, defaultValue)
api.mem.set(key, value)
api.mem.remove(key)
api.mem.clear()
api.mem.keys()

Script Memory Entries

(empty)

Wheel Controls

Telemetry

Track & IR Sensors

track type line width (m)

svg path (meters, e.g. M -1 0 L 1 0) sensor config (JSON array in car local coords, x=forward, y=left)

Track ready. Sensor API available as api.sensors and api.getSensor(name).

Camera Controls

Offset X (px)

Offset Y (px)

Zoom (px/m)

220