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
A_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 getballposition():
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,R1_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1] - position_BR[1]
BBB =position_S[0] - position_BR[0]
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
while True:
if BB <= 0 and BBB <= -0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,B1_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1]- position_BR[1]
BBB =position_S[0] - position_BR[0]
vrep.simxSetJointTargetVelocity(clientID,R1_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif BB > 0 and BBB <= -0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,B1_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1]- position_BR[1]
BBB =position_S[0] - position_BR[0]
vrep.simxSetJointTargetVelocity(clientID,R1_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif BB <= 0 and BBB > -0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,B1_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1]- position_BR[1]
BBB =position_S[0] - position_BR[0]
vrep.simxSetJointTargetVelocity(clientID,R1_handle,A_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif BB > 0 and BBB > -0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,B1_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
BB =position_S[1]- position_BR[1]
BBB =position_S[0] - position_BR[0]
vrep.simxSetJointTargetVelocity(clientID,R1_handle,A_KickBallVel,vrep.simx_opmode_oneshot_wait)
try:
if keyboard.is_pressed('s'):
speed(R2_handle,A_KickBallVel)
elif keyboard.is_pressed('w'):
speed(R2_handle,B_KickBallVel)
else:
speed(R2_handle,0.1)
if keyboard.is_pressed('a'):
speed(P2_handle,0.1)
elif keyboard.is_pressed('d'):
speed(P2_handle,-0.1)
else:
speed(P2_handle,0)
except:
break
Mv = BB*2.3
vrep.simxSetJointTargetVelocity(clientID,P1_handle,Mv,vrep.simx_opmode_oneshot_wait)
getballposition()