手足球電腦對電腦 << Previous Next >> vrep respondable mask

系統功能改善

Q1.電腦回擊時，會發生延遲的狀況，需要測試求到哪個位置時，桿件能馬上做出擊球的動作

while (n == 1):
        if Bv <= 0 and BBv <= -0.02 and Rv<=0 and RRv <= -0.02:
            errorCode,position_BR=vrep.simxGetObjectPosition(clientID,B1_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_RR=vrep.simxGetObjectPosition(clientID,B2_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
            Bv =position_S[1]- position_BR[1]
            BBv =position_S[0] - position_BR[0]
            Rv =position_S[1]- position_RR[1]
            RRv =position_RR[0]-position_S[0]
            vrep.simxSetJointTargetVelocity(clientID,R1_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
            vrep.simxSetJointTargetVelocity(clientID,R2_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)

原來的程式碼是用球到0.02的位置，後來經過測試後，0.03為最佳

 if BBB <-0.03:
            speed(R1_handle, B_KickBallVel)
        elif BBB >= -0.03:
            speed(R1_handle, R_KickBallVel)
        else:
            pass
        if RRR >0.03:
            speed(R2_handle, R_KickBallVel)
        elif RRR <= 0.03:
            speed(R2_handle, B_KickBallVel)
        else:
            pass

Q2.電腦做回擊時，發生延遲的狀況(尚未解決)

手足球電腦對電腦 << Previous Next >> vrep respondable mask