Robots suiveurs 3 - Code Contrôle au Clavier

#include <webots/Robot.hpp>
#include <iostream>

// Added a new include file
#include <webots/Motor.hpp>
#include <webots/Keyboard.hpp>
#define TIME_STEP 64

#define MAX_SPEED 6.28

// All the webots classes are defined in the "webots" namespace
using namespace webots;

int main(int argc, char **argv) {
 Robot *robot = new Robot();

 // get a handler to the motors and set target position to infinity (speed control)
 Motor *leftMotor = robot->getMotor("left wheel motor");
 Motor *rightMotor = robot->getMotor("right wheel motor");
 leftMotor->setPosition(INFINITY);
 rightMotor->setPosition(INFINITY);

 // set up the motor speeds at 10% of the MAX_SPEED.
 leftMotor->setVelocity(0);
 rightMotor->setVelocity(0);
 Keyboard keyboard = Keyboard();
 keyboard.enable(50);
 while (robot->step(TIME_STEP) != -1){
 
 int key = keyboard.getKey();
 
 //Fonctionne aussi : 
 /*
   if(key ==keyboard.CONTROL+'M')
           printf("You can control the drone with your computer keyboard:\n");
           */
   //std::cout << key << std::endl;
   if (key == -1) {
           leftMotor->setVelocity(0);
           rightMotor->setVelocity(0);
       }
    while (key > 0) {
      //std::cout << "touch is pressed M" << std::endl;
      switch (key) {
        
        case 'Z':
           leftMotor->setVelocity(MAX_SPEED);
           rightMotor->setVelocity(MAX_SPEED);
           
          break;
        case 'S':
           leftMotor->setVelocity(-MAX_SPEED);
           rightMotor->setVelocity(-MAX_SPEED);
          break;
        case 'Q':
          leftMotor->setVelocity(-0.49*MAX_SPEED);
           rightMotor->setVelocity(0.49*MAX_SPEED);
          break;
        case 'D':
          leftMotor->setVelocity(0.49*MAX_SPEED);
           rightMotor->setVelocity(-0.49*MAX_SPEED);
          break;
        case 'A':
             leftMotor->setVelocity(0.5*MAX_SPEED);
             rightMotor->setVelocity(0.75*MAX_SPEED);
          break;
          case 'E':
             leftMotor->setVelocity(0.75*MAX_SPEED);
             rightMotor->setVelocity(0.5*MAX_SPEED);
          break;
        default:
           leftMotor->setVelocity(0);
           rightMotor->setVelocity(0);
          break;
      }
      key = keyboard.getKey();
      
      
       
    }
   
    //std::cout << "touch is pressed M" << std::endl;
    }
    

 delete robot;

 return 0;
}