程式碼:
import vrep
import sys, math
import keyboard
# child threaded script:
# 內建使用 port 19997 若要加入其他 port, 在 serve 端程式納入
#simExtRemoteApiStart(19999)
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
KickBallV = 360
n=1
U_KickBallVel = (math.pi/180)*KickBallV
D_KickBallVel = -(math.pi/180)*KickBallV
if clientID!= -1:
print("Connected to remote server")
else:
print('Connection not successful')
sys.exit('Could not connect')
errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait)
errorCode,lmov_handle=vrep.simxGetObjectHandle(clientID,'lmov', vrep.simx_opmode_oneshot_wait)
errorCode,rmov_handle=vrep.simxGetObjectHandle(clientID,'rmov',vrep.simx_opmode_oneshot_wait)
errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait)
errorCode,rrev_handle=vrep.simxGetObjectHandle(clientID,'rrev',vrep.simx_opmode_oneshot_wait)
errorCode,R_handle=vrep.simxGetObjectHandle(clientID,'R',vrep.simx_opmode_oneshot_wait)
errorCode,L_handle=vrep.simxGetObjectHandle(clientID,'L',vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rrev_handle,0,vrep.simx_opmode_oneshot_wait)
def speed(handle,speed):
errorCode = vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait)
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
#vrep.simxSetJointTargetVelocity(clientID,P1_handle,5,vrep.simx_opmode_oneshot_wait)
while True:
errorCode,position_LB=vrep.simxGetObjectPosition(clientID,lrev_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1] - position_LB[1] #左右
BBB =position_S[0] - position_LB[0]#前後
#print(position_S)
if BBB <0.07:
speed(lrev_handle, D_KickBallVel)
elif BBB >= 0.07:
speed(lrev_handle, U_KickBallVel)
else:
pass
try:
if keyboard.is_pressed('5'):
vrep.simxSetJointTargetVelocity(clientID,rrev_handle,U_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif keyboard.is_pressed('0'):
vrep.simxSetJointTargetVelocity(clientID,rrev_handle,D_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif keyboard.is_pressed('3'):
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,-1,vrep.simx_opmode_oneshot_wait)
elif keyboard.is_pressed('2'):
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)
elif keyboard.is_pressed('1'):
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,1,vrep.simx_opmode_oneshot_wait)
else:
pass
except:
break
Mv = BB*2.3
vrep.simxSetJointTargetVelocity(clientID,lmov_handle,Mv,vrep.simx_opmode_oneshot_wait)