from controller import Robot robot = Robot() timestep = int(robot.getBasicTimeStep())

time_step = 64 max_speed = 7 #motor left_motor = robot.getDevice('left wheel motor') right_motor = robot.getDevice('right wheel motor') left_motor.setPosition(float('inf')) right_motor.setPosition(float('inf')) left_motor.setVelocity(0.0) right_motor.setVelocity(0.0)

#IR sensor right_ir = robot.getDevice('RIGHT') right_ir.enable(time_step) mid_ir = robot.getDevice('MID') mid_ir.enable(time_step) left_ir = robot.getDevice('LEFT') left_ir.enable(time_step)

#simulation #main loop: while robot.step(time_step) != -1: right_ir_val = right_ir.getValue() mid_ir_val = mid_ir.getValue() left_ir_val = left_ir.getValue() print("left: {} mid: {} right: {}".format(left_ir_val, mid_ir_val, right_ir_val)) left_speed = max_speed right_speed = max_speed #Process sensor data if left_ir_val<600 and right_ir_val<600 mid_ir_val>=600: left_motor.setVelocity(left_speed) right_motor.setVelocity(right_speed) if left_ir_val<600 and right_ir_val>=600 and mid_ir_val>=600: left_motor.setVelocity(left_speed) right_motor.setVelocity(0) if left_ir_val>=600 and right_ir_val<600 and mid_ir_val>=600: left_motor.setVelocity(0) right_motor.setVelocity(right_speed) if left_ir_val>=600 and right_ir_val<600 and mid_ir_val<600: left_motor.setvelocity(0) right_motor.setvelocity(right_speed) if left_ir_val<600 right_ir_val>=600 and mid_ir_val<600: left_motor.setVelocity(left_speed) right_motor.setVelocity(0) if left_ir_val<600 and right_ir_val<600 and mid_ir_val<600: left_motor.setVelocity(left_speed) right_motor.setVelocity(right_speed) pass

Is there anyone who can make understand each and every line of this code to me?