擊球時的延遲還尚未解決，目前還共同處理中，所以當球到達桿子打不到的位置時，並須用人為的力量去移動球。
圖檔：football
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,P2_handle=vrep.simxGetObjectHandle(clientID,'P2',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)
errorCode,B1_handle=vrep.simxGetObjectHandle(clientID,'B1',vrep.simx_opmode_oneshot_wait)
errorCode,B2_handle=vrep.simxGetObjectHandle(clientID,'B2',vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,P1_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,P2_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,R1_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,R2_handle,0,vrep.simx_opmode_oneshot_wait)
def speed(handle,speed):
errorCode = vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait)
def start():
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
while True:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,R1_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,R2_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1] - position_BR[1] #左右
BBB =position_S[0] - position_BR[0]#前後
RR =position_S[1] - position_RR[1] #左右
RRR =position_S[0] - position_RR[0]#前後
print(position_S)
if BBB <0.035:
speed(R1_handle, B_KickBallVel)
elif BBB >= 0.035:
speed(R1_handle, R_KickBallVel)
else:
pass
if RRR >-0.035:
speed(R2_handle, R_KickBallVel)
elif RRR <= -0.035:
speed(R2_handle, B_KickBallVel)
else:
pass
Mv = BB*2.5
Mvv = RR*2.5
vrep.simxSetJointTargetVelocity(clientID,P1_handle,Mv,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,P2_handle,Mvv,vrep.simx_opmode_oneshot_wait)
start()