Parameter Reference

Field

Parameter	Value
Tile	12 cm × 12 cm
Quarter tile (Areas 2 and 3)	6 cm × 6 cm
Wall	1 cm thick, 6 cm high
Letter victim	2 cm × 2 cm
Cognitive target	5 cm in diameter

Game

Parameter	Value
Game time	8 minutes of simulated time
Real-world time	10 minutes
Automatic lack of progress	After 20 seconds in a fixed location
Stop time to report a wall token	At least 1 second
Time multiplier in a swamp	x5 on the first entry, +1 on each new entry into the same swamp, up to x10
Area multipliers	1, 1.25, 1.5 and 2 for Areas 1, 2, 3 and 4
Exit bonus	+10%
Mapping bonus multiplier	correctness × 1.2 + 1

Robot

Parameter	Value
Budget	3000
Maximum number of cameras	3
Maximum number of distance sensors	8
Distance sensor range	0 to 0.8 m
GPS accuracy	0.0025 m
Maximum wheel velocity	6.28 rad/s
Lidar	512 points per layer, 4 layers, 0.01 to 1 m

timeStep sets the number of milliseconds between sensor updates. int(robot.getBasicTimeStep()) gets the basic time step of the world, which is 16 ms in the worlds of Erebus v26.1.

Device names of the starter robot

These are the names to pass to robot.getDevice() with the starter robot. In your own robots, you choose the names in the Robot Customizer. The emitter and the receiver are always available.

Device	Name
Wheel motors	left wheel motor, right wheel motor
Wheel encoders	left wheel sensor, right wheel sensor
Distance sensors	leftDist, frontDist, rightDist
Camera	camera
Colour sensor	color
GPS	gps
Gyroscope	gyro
Accelerometer	accelerometer
Lidar	lidar
Emitter	emitter
Receiver	receiver