40623116投影片
期末小考-彈珠台-導入vrep設定
期末小考-彈珠台-程式模擬
圖檔:onshape
ttt檔:ttt-40623116
程式碼
import vrep
import keyboard
import time
import sys, math
# 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
R_KickBallVel = (math.pi/180)*KickBallV
B_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,P1_handle=vrep.simxGetObjectHandle(clientID,'P1',vrep.simx_opmode_oneshot_wait)
errorCode,R1_handle=vrep.simxGetObjectHandle(clientID,'R1',vrep.simx_opmode_oneshot_wait)
errorCode,R2_handle=vrep.simxGetObjectHandle(clientID,'R2',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)
while True:
try:
if keyboard.is_pressed('a'):
speed(R1_handle,R_KickBallVel)
else:
speed(R1_handle,B_KickBallVel)
if keyboard.is_pressed('l'):
speed(R2_handle,B_KickBallVel)
else:
speed(R2_handle,R_KickBallVel)
if keyboard.is_pressed('up'):
speed(P1_handle,5)
else:
speed(P1_handle,-100)
except:
break