TIME_STEP = 64;

% get and enable devices, e.g.:
%  camera = wb_robot_get_device('camera');
%  wb_camera_enable(camera, TIME_STEP);

motor1 = wb_robot_get_device( 'left wheel motor' );
motor2 = wb_robot_get_device( 'right wheel motor' );

wb_motor_set_position( motor1, inf );
wb_motor_set_position( motor2, inf );

while wb_robot_step(TIME_STEP) ~= -1

  v = 0;
  w = 1;

  v1 = 0.4878*v + 1.2683*w;
  v2 = 0.4878*v - 1.2683*w;

  wb_motor_set_velocity( motor1, v1 )
  wb_motor_set_velocity( motor2, v2 )

  % read the sensors, e.g.:
  %  rgb = wb_camera_get_image(camera);

  drawnow;

  wb_console_print( 'abcd', WB_STDOUT );

end