期末彈珠台導入設定加模擬
圖檔:onshape
vrep:彈珠台
程式:
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,bbb1_handle=vrep.simxGetObjectHandle(clientID,'bbb1',vrep.simx_opmode_oneshot_wait)
errorCode,Rt_handle=vrep.simxGetObjectHandle(clientID,'Rt',vrep.simx_opmode_oneshot_wait)
errorCode,Ra_handle=vrep.simxGetObjectHandle(clientID,'Ra',vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,bbb1_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,Ra_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,Rt_handle,0,vrep.simx_opmode_oneshot_wait)
def con():
errorCode = vrep.simxSetJointTargetVelocity(clientID,Rt_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
def clo():
errorCode = vrep.simxSetJointTargetVelocity(clientID,Ra_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
def up():
errorCode = vrep.simxSetJointTargetVelocity(clientID,bbb1_handle,100,vrep.simx_opmode_oneshot_wait)
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
while True:
try:
if keyboard.is_pressed('a'):
con()
else:
vrep.simxSetJointTargetVelocity(clientID,Rt_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
if keyboard.is_pressed('l'):
clo()
else:
vrep.simxSetJointTargetVelocity(clientID,Ra_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
if keyboard.is_pressed('up'):
up()
else:
vrep.simxSetJointTargetVelocity(clientID,bbb1_handle,-50,vrep.simx_opmode_oneshot_wait)
except:
break