送球機構設計與模擬 << Previous Next >> 結案報告
送球機構設計與模擬 << Previous Next >> 結案報告
系統功能展示
人機對決
最終版本的'玩家與電腦'對打，完整code
操作說明:方向鍵的左右下按鍵 、z、x、c、v分別按順序從z的守門員到v的最前排、R鍵用來讓球回位至正中央(怕卡bug)
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function sysCall_init()
Ball=sim.getObjectHandle('ball')
--player--
Slide_rail= sim.getObjectHandle('R1')
Roller= sim.getObjectHandle('RR1')
Slide_rail2= sim.getObjectHandle('R2')
Roller2= sim.getObjectHandle('RR2')
Slide_rail3= sim.getObjectHandle('R3')
Roller3= sim.getObjectHandle('RR3')
Slide_rail4= sim.getObjectHandle('R4')
Roller4= sim.getObjectHandle('RR4')
Slide_rail_v=0
Roller_v=0
Roller_v2=0
Roller_v3=0
Roller_v4=0
dVel=0.5
--computer--
Body=sim.getObjectHandle('LSO1')
Body2=sim.getObjectHandle('LSO2')
Body3=sim.getObjectHandle('LSO3')
Body4=sim.getObjectHandle('LSO4')
LR1=sim.getObjectHandle('LR1')
LR2=sim.getObjectHandle('LR2')
LR3=sim.getObjectHandle('LL3')
LR4=sim.getObjectHandle('LR4')
L1=sim.getObjectHandle('L1')
L2=sim.getObjectHandle('L2')
L3=sim.getObjectHandle('L3')
L4=sim.getObjectHandle('L4')
--goal--
Player_G = 0
Computer_G = 0
--reball--
Push_1=sim.getObjectHandle('Push_1')
Push_2=sim.getObjectHandle('Push_2')
end
function sysCall_actuation()
--player--
A= sim.getObjectHandle('RS1_PO1') --auto_return--1
PA= sim.getObjectPosition(A,-1)
if PA[1] >= -0.712 then
Roller_v = Roller_v + dVel*2.5
end
B= sim.getObjectHandle('RS2_PO1') --auto_return--2
PB= sim.getObjectPosition(B,-1)
if PB[1] >= -0.531 then
Roller_v2 = Roller_v2 + dVel*5
end
C= sim.getObjectHandle('RS4_PO2') --auto_return--3
PC= sim.getObjectPosition(C,-1)
if PC[1] >= -0.197 then
Roller_v3=Roller_v3 + dVel*5
end
D= sim.getObjectHandle('RS3_PO1') --auto_return--4
PD= sim.getObjectPosition(D,-1)
if PD[1] >= 0.137 then
Roller_v4=Roller_v4 + dVel*5
end
message,auxiliaryData=sim.getSimulatorMessage()
while message~=-1 do
if (message==sim.message_keypress) then
if (auxiliaryData[1]==114) then --"r"--restart
sim.setObjectPosition(Ball,-1,{-0.15, -0.1334, 0.5})
end
if (auxiliaryData[1]==122) then --"z"--goalkeeper
Roller_v = Roller_v - dVel*60
if (Roller_v > 0) then
Roller_v = 0
end
end
if (auxiliaryData[1]==120) then --"x"--2
Roller_v2 = Roller_v2 - dVel*15
if (Roller_v2 > 0) then
Roller_v2 = 0
end
end
if (auxiliaryData[1]==99) then --"c"--3
Roller_v3 = Roller_v3 - dVel*15
if (Roller_v3 > 0) then
Roller_v3 = 0
end
end
if (auxiliaryData[1]==118) then --"v"--4
Roller_v4 = Roller_v4 - dVel*15
if (Roller_v4 > 0) then
Roller_v4 = 0
end
end
if (auxiliaryData[1]==2008) then --"down"--return_player
Roller_v = Roller_v + dVel*20
Roller_v2 = Roller_v2 + dVel*20
Roller_v3 = Roller_v3 + dVel*20
Roller_v4 = Roller_v4 + dVel*20
if (Roller_v < 0) then
Roller_v = 0
end
if (Roller_v2 < 0) then
Roller_v2 = 0
end
if (Roller_v3 < 0) then
Roller_v3 = 0
end
if (Roller_v4 < 0) then
Roller_v4 = 0
end
end
if (auxiliaryData[1]==2009) then --"right"
Slide_rail_v = Slide_rail_v + dVel/5
if (Slide_rail_v < 0) then
Slide_rail_v = 0
end
end
if (auxiliaryData[1]==2010) then --"left"
Slide_rail_v = Slide_rail_v - dVel/5
if (Slide_rail_v > 0) then
Slide_rail_v = 0
end
end
end
message,auxiliaryData=sim.getSimulatorMessage()
end
Slide_rail_v2 = Slide_rail_v/1.3
Slide_rail_v3 = Slide_rail_v/1.5
Slide_rail_v4 = Slide_rail_v/1.4
sim.setJointTargetVelocity(Slide_rail,Slide_rail_v)
sim.setJointTargetVelocity(Roller,Roller_v)
sim.setJointTargetVelocity(Slide_rail2,Slide_rail_v2)
sim.setJointTargetVelocity(Roller2,Roller_v2)
sim.setJointTargetVelocity(Slide_rail3,Slide_rail_v3)
sim.setJointTargetVelocity(Roller3,Roller_v4)
sim.setJointTargetVelocity(Slide_rail4,Slide_rail_v4)
sim.setJointTargetVelocity(Roller4,Roller_v3)
--computer--
Body_s = sim.getObjectPosition(Body,-1)
Ball_s = sim.getObjectPosition(Ball,-1)
X = Body_s[1] - Ball_s[1]
Y = Body_s[2] - Ball_s[2]
if 1 then --C_goalkeeper
if X <= 0.02 then
sim.setJointTargetVelocity(LR1,-5)
sim.setJointTargetVelocity(L1,0)
elseif X > 0.02 or X <= 0.01 then
sim.setJointTargetVelocity(LR1,5)
YYYYY = Y*7
sim.setJointTargetVelocity(L1,YYYYY)
end
end
Body_s2 = sim.getObjectPosition(Body2,-1)
X2_1 = Body_s2[1] - Ball_s[1]
Y2_1 = Body_s2[2] - Ball_s[2] - 0.15
Y2_2 = Body_s2[2] - Ball_s[2] + 0.15
if X2_1 >= 0.01 then --C_second--
if Ball_s[2] <= -0.133 then
C_K_B_X2()
Y2_1 = Y2_1*5
sim.setJointTargetVelocity(L2,Y2_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X2()
Y2_2 = Y2_2*5
sim.setJointTargetVelocity(L2,Y2_2)
end
end
Body_s4 = sim.getObjectPosition(Body4,-1)
X4_1 = Body_s4[1] - Ball_s[1]
Y4_1 = Body_s4[2] - Ball_s[2] - 0.15
Y4_2 = Body_s4[2] - Ball_s[2] + 0.15
if X4_1 >= 0.01 then --C_third--
if Ball_s[2] <= -0.133 then
C_K_B_X4()
Y4_1 = Y4_1*3
sim.setJointTargetVelocity(L4,Y4_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X4()
Y4_2 = Y4_2*3
sim.setJointTargetVelocity(L4,Y4_2)
end
end
Body_s3 = sim.getObjectPosition(Body3,-1)
X3_1 = Body_s3[1] - Ball_s[1]
Y3_1 = Body_s3[2] - Ball_s[2]
Y3_2 = Body_s3[2] - Ball_s[2] +0.2487
Y3_3 = Body_s3[2] - Ball_s[2] -0.2487
if X3_1 >= 0.01 then --C_fourth--
if Ball_s[2] < -0.0028 and Ball_s[2] >= -0.2487 then
C_K_B_X3()
Y3_1 = Y3_1*2.5
sim.setJointTargetVelocity(L3,Y3_1)
elseif Ball_s[2] >= -0.0028 then
C_K_B_X3()
Y3_2 = Y3_2*2.5
sim.setJointTargetVelocity(L3,Y3_2)
elseif Ball_s[2] < -0.2487 then
C_K_B_X3()
Y3_3 = Y3_3*2.5
sim.setJointTargetVelocity(L3,Y3_3)
end
end
--reborn_ball & count goal--
reborn_ball_count_goal()
end
function C_K_B_X2() --C_second_kick--
if X2_1 < 0.06 then
sim.setJointTargetVelocity(LR2,-5)
elseif X2_1 > 0.03 then
sim.setJointTargetVelocity(LR2,5)
end
end
function C_K_B_X3() --C_third_kcik--
if X3_1 < 0.06 then
sim.setJointTargetVelocity(LR3,-5)
elseif X3_1 > 0.03 then
sim.setJointTargetVelocity(LR3,5)
end
end
function C_K_B_X4() --C_fourth_kick--
if X4_1 < 0.06 then
sim.setJointTargetVelocity(LR4,-5)
elseif X4_1 > 0.03 then
sim.setJointTargetVelocity(LR4,5)
end
end
function reborn_ball_count_goal()
if Ball_s[1] < -0.85 and Ball_s[1] > -0.87 then
Player_G = Player_G + 1
end
if Ball_s[1] > 0.61 and Ball_s[1] < 0.62 then
Computer_G = Computer_G + 1
end
if Ball_s[1] < -0.85 or Ball_s[1] > 0.61 then
print[[Player : Computer]]
print(' '..Computer_G..' '..Player_G)
end
if Ball_s[1] > 0.905 and Ball_s[2] < -0.069 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_1,1)
elseif Ball_s[3] > 0.036 then
sim.setJointTargetVelocity(Push_1,-1)
end
if Ball_s[1] < -1.15 and Ball_s[2] < -0.123 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_2,-1)
elseif Ball_s[3] > 0.036 then
sim.setJointTargetVelocity(Push_2,1)
end
if Ball_s[1] < -1.156 and Ball_s[2] > 0.163 and Ball_s[3] > 0.058 then
sim.setObjectPosition(Ball,-1,{-0.20361, 0.2739, 0.15735})
end
if Ball_s[1] < -0.20361 and Ball_s[2] > 0.2740 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.2049, 0.23, 0.1482})
end
if Ball_s[1] > 0.9056 and Ball_s[2] < -0.4247 and Ball_s[3] > 0.0592 then
sim.setObjectPosition(Ball,-1,{-0.043425, -0.60401, 0.15735})
end
if Ball_s[1] > -0.04753 and Ball_s[2] < -0.5240 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.03667, -0.48443, 0.1482})
end
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/FinalVersion.ttt
機²對決
寫完人機對打後，花了不到1小時寫完電腦對電腦的版本
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function sysCall_init()
Ball=sim.getObjectHandle('ball')
--computer--
Body=sim.getObjectHandle('LSO1')
Body2=sim.getObjectHandle('LSO2')
Body3=sim.getObjectHandle('LSO3')
Body4=sim.getObjectHandle('LSO4')
LR1=sim.getObjectHandle('LR1')
LR2=sim.getObjectHandle('LR2')
LR3=sim.getObjectHandle('LL3')
LR4=sim.getObjectHandle('LR4')
L1=sim.getObjectHandle('L1')
L2=sim.getObjectHandle('L2')
L3=sim.getObjectHandle('L3')
L4=sim.getObjectHandle('L4')
--computer2--
Body_2=sim.getObjectHandle('RSO1')
Body2_2=sim.getObjectHandle('RSO2')
Body3_2=sim.getObjectHandle('RSO3')
Body4_2=sim.getObjectHandle('RSO4')
RR1=sim.getObjectHandle('RR1')
RR2=sim.getObjectHandle('RR2')
RR3=sim.getObjectHandle('RR3')
RR4=sim.getObjectHandle('RR4')
R1=sim.getObjectHandle('R1')
R2=sim.getObjectHandle('R2')
R3=sim.getObjectHandle('R3')
R4=sim.getObjectHandle('R4')
--goal--
Player_G = 0
Computer_G = 0
--reball--
Push_1=sim.getObjectHandle('Push_1')
Push_2=sim.getObjectHandle('Push_2')
end
function sysCall_actuation()
message,auxiliaryData=sim.getSimulatorMessage()
while message~=-1 do
if (message==sim.message_keypress) then
if (auxiliaryData[1]==114) then --"r"--restart
sim.setObjectPosition(Ball,-1,{-0.15, -0.1334, 0.5})
end
end
message,auxiliaryData=sim.getSimulatorMessage()
end
--computer--
Body_s = sim.getObjectPosition(Body,-1)
Ball_s = sim.getObjectPosition(Ball,-1)
X = Body_s[1] - Ball_s[1]
Y = Body_s[2] - Ball_s[2]
if 1 then --C_goalkeeper
if X <= 0.02 then
sim.setJointTargetVelocity(LR1,-5)
sim.setJointTargetVelocity(L1,0)
elseif X > 0.02 or X <= 0.01 then
sim.setJointTargetVelocity(LR1,5)
YYYYY = Y*7
sim.setJointTargetVelocity(L1,YYYYY)
end
end
Body_s2 = sim.getObjectPosition(Body2,-1)
X2_1 = Body_s2[1] - Ball_s[1]
Y2_1 = Body_s2[2] - Ball_s[2] - 0.15
Y2_2 = Body_s2[2] - Ball_s[2] + 0.15
if X2_1 >= 0.01 then --C_second--
if Ball_s[2] <= -0.133 then
C_K_B_X2()
Y2_1 = Y2_1*5
sim.setJointTargetVelocity(L2,Y2_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X2()
Y2_2 = Y2_2*5
sim.setJointTargetVelocity(L2,Y2_2)
end
end
Body_s4 = sim.getObjectPosition(Body4,-1)
X4_1 = Body_s4[1] - Ball_s[1]
Y4_1 = Body_s4[2] - Ball_s[2] - 0.15
Y4_2 = Body_s4[2] - Ball_s[2] + 0.15
if X4_1 >= 0.01 then --C_third--
if Ball_s[2] <= -0.133 then
C_K_B_X4()
Y4_1 = Y4_1*3
sim.setJointTargetVelocity(L4,Y4_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X4()
Y4_2 = Y4_2*3
sim.setJointTargetVelocity(L4,Y4_2)
end
end
Body_s3 = sim.getObjectPosition(Body3,-1)
X3_1 = Body_s3[1] - Ball_s[1]
Y3_1 = Body_s3[2] - Ball_s[2]
Y3_2 = Body_s3[2] - Ball_s[2] +0.2487
Y3_3 = Body_s3[2] - Ball_s[2] -0.2487
if X3_1 >= 0.01 then --C_fourth--
if Ball_s[2] < -0.0028 and Ball_s[2] >= -0.2487 then
C_K_B_X3()
Y3_1 = Y3_1*2.5
sim.setJointTargetVelocity(L3,Y3_1)
elseif Ball_s[2] >= -0.0028 then
C_K_B_X3()
Y3_2 = Y3_2*2.5
sim.setJointTargetVelocity(L3,Y3_2)
elseif Ball_s[2] < -0.2487 then
C_K_B_X3()
Y3_3 = Y3_3*2.5
sim.setJointTargetVelocity(L3,Y3_3)
end
end
--computer2--
Body_2_s = sim.getObjectPosition(Body_2,-1)
X_2 = Body_2_s[1] - Ball_s[1]
Y_2 = Body_2_s[2] - Ball_s[2]
if 1 then --C_goalkeeper
if X_2 > -0.02 then
sim.setJointTargetVelocity(RR1,-5)
sim.setJointTargetVelocity(R1,0)
Y_2 = 0
elseif X_2 < -0.02 or X_2 > -0.01 then
sim.setJointTargetVelocity(RR1,5)
YYYYY_2 = Y_2*-7
sim.setJointTargetVelocity(R1,YYYYY_2)
end
end
Body_2_s2 = sim.getObjectPosition(Body2_2,-1)
X2_1_2 = Body_2_s2[1] - Ball_s[1]
Y2_1_2 = Body_2_s2[2] - Ball_s[2] - 0.15
Y2_2_2 = Body_2_s2[2] - Ball_s[2] + 0.15
if X2_1_2 < -0.01 then --C_second--
if Ball_s[2] <= -0.133 then
C_K_B_X2_2()
Y2_1_2 = Y2_1_2*-5
sim.setJointTargetVelocity(R2,Y2_1_2)
elseif Ball_s[2] > -0.133 then
C_K_B_X2_2()
Y2_2_2 = Y2_2_2*-5
sim.setJointTargetVelocity(R2,Y2_2_2)
end
end
Body_2_s4 = sim.getObjectPosition(Body4_2,-1)
X4_1_2 = Body_2_s4[1] - Ball_s[1]
Y4_1_2 = Body_2_s4[2] - Ball_s[2] - 0.15
Y4_2_2 = Body_2_s4[2] - Ball_s[2] + 0.15
if X4_1_2 < -0.01 then --C_third--
if Ball_s[2] <= -0.133 then
C_K_B_X4_2()
Y4_1_2 = Y4_1_2*-3
sim.setJointTargetVelocity(R4,Y4_1_2)
elseif Ball_s[2] > -0.133 then
C_K_B_X4_2()
Y4_2_2 = Y4_2_2*-3
sim.setJointTargetVelocity(R4,Y4_2_2)
end
end
Body_2_s3 = sim.getObjectPosition(Body3_2,-1)
X3_1_2 = Body_2_s3[1] - Ball_s[1]
Y3_1_2 = Body_2_s3[2] - Ball_s[2]
Y3_2_2 = Body_2_s3[2] - Ball_s[2] +0.2487
Y3_3_2 = Body_2_s3[2] - Ball_s[2] -0.2487
if X3_1_2 < 0.01 then --C_fourth--
if Ball_s[2] < -0.0028 and Ball_s[2] >= -0.2487 then
C_K_B_X3_2()
Y3_1_2 = Y3_1_2*-2.5
sim.setJointTargetVelocity(R3,Y3_1_2)
elseif Ball_s[2] >= -0.0028 then
C_K_B_X3_2()
Y3_2_2 = Y3_2_2*-2.5
sim.setJointTargetVelocity(R3,Y3_2_2)
elseif Ball_s[2] < -0.2487 then
C_K_B_X3_2()
Y3_3_2 = Y3_3_2*-2.5
sim.setJointTargetVelocity(R3,Y3_3_2)
end
end
--reborn_ball & count goal--
reborn_ball_count_goal()
end
function C_K_B_X2() --C_second_kick--
if X2_1 < 0.06 then
sim.setJointTargetVelocity(LR2,-5)
elseif X2_1 > 0.03 then
sim.setJointTargetVelocity(LR2,5)
end
end
function C_K_B_X3() --C_third_kcik--
if X3_1 < 0.06 then
sim.setJointTargetVelocity(LR3,-5)
elseif X3_1 > 0.03 then
sim.setJointTargetVelocity(LR3,5)
end
end
function C_K_B_X4() --C_fourth_kick--
if X4_1 < 0.06 then
sim.setJointTargetVelocity(LR4,-5)
elseif X4_1 > 0.03 then
sim.setJointTargetVelocity(LR4,5)
end
end
function C_K_B_X2_2() --C_2_second_kick--
if X2_1_2 < -0.03 then
sim.setJointTargetVelocity(RR2,5)
elseif X2_1_2 > -0.03 then
sim.setJointTargetVelocity(RR2,-5)
end
end
function C_K_B_X3_2() --C_2_third_kcik--
if X3_1_2 < -0.03 then
sim.setJointTargetVelocity(RR3,5)
elseif X3_1_2 > -0.03 then
sim.setJointTargetVelocity(RR3,-5)
end
end
function C_K_B_X4_2() --C_2_fourth_kick--
if X4_1_2 < -0.03 then
sim.setJointTargetVelocity(RR4,5)
elseif X4_1_2 > -0.03 then
sim.setJointTargetVelocity(RR4,-5)
end
end
function reborn_ball_count_goal()
if Ball_s[1] < -0.85 and Ball_s[1] > -0.87 then
Player_G = Player_G + 1
end
if Ball_s[1] >= 0.61 and Ball_s[1] < 0.63 then
Computer_G = Computer_G + 1
end
if Ball_s[1] < -0.85 or Ball_s[1] >= 0.61 then
print[[Player : Computer]]
print(' '..Computer_G..' '..Player_G)
end
if Ball_s[1] > 0.905 and Ball_s[2] < -0.069 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_1,1)
elseif Ball_s[3] > 0.036 then
sim.setJointTargetVelocity(Push_1,-1)
end
if Ball_s[1] < -1.15 and Ball_s[2] < -0.123 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_2,-1)
elseif Ball_s[3] > 0.036 then
sim.setJointTargetVelocity(Push_2,1)
end
if Ball_s[1] < -1.156 and Ball_s[2] > 0.163 and Ball_s[3] > 0.058 then
sim.setObjectPosition(Ball,-1,{-0.20361, 0.2739, 0.15735})
end
if Ball_s[1] < -0.20361 and Ball_s[2] > 0.2740 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.2049, 0.23, 0.1482})
end
if Ball_s[1] > 0.9056 and Ball_s[2] < -0.4247 and Ball_s[3] > 0.0592 then
sim.setObjectPosition(Ball,-1,{-0.043425, -0.60401, 0.15735})
end
if Ball_s[1] > -0.04753 and Ball_s[2] < -0.5240 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.03667, -0.48443, 0.1482})
end
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/FinalVersion_EX.ttt
人形歸位
我將每根桿件設定成"當按了按鍵變成擊球狀態後會到達邊界數值，如果到達邊界直做減速度運動回到初始狀態"，下方code中為+dVel，其原因是因為原先設定擊球為做減速度運動而回球則加入加速度。
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A= sim.getObjectHandle('RS1_PO1')
PA= sim.getObjectPosition(A,-1)
if PA[1] >= -0.712 then
Roller_v = Roller_v + dVel*3
end
B= sim.getObjectHandle('RS2_PO1')
PB= sim.getObjectPosition(B,-1)
if PB[1] >= -0.531 then
Roller_v2 = Roller_v2 + dVel*3
end
C= sim.getObjectHandle('RS4_PO2')
PC= sim.getObjectPosition(C,-1)
if PC[1] >= -0.197 then
Roller_v3=Roller_v3 + dVel*5
end
D= sim.getObjectHandle('RS3_PO1')
PD= sim.getObjectPosition(D,-1)
if PD[1] >= 0.137 then
Roller_v4=Roller_v4 + dVel*5
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/www2.ttt
電腦多人形球位判斷式
將擊球的人行分成三個後，紀錄每兩個人型之間的距離，利用補正讓球穿過人形與人形之間的分界線時，判斷式work，加入補正的數值讓最左或是最右邊的人形能對正球體。此程式為最初簡易版本。
.gif)
以下都更改於function sysCall_actuation()中
-------------------------------------
if (auxiliaryData[1]==2008) then
Roller_v = Roller_v + dVel*20
Roller_v2 = Roller_v2 + dVel*20
Roller_v3 = Roller_v3 + dVel*20
Roller_v4 = Roller_v4 + dVel*20
if (Roller_v < 0) then
Roller_v = 0
end
if (Roller_v2 < 0) then
Roller_v2 = 0
end
if (Roller_v3 < 0) then
Roller_v3 = 0
end
if (Roller_v4 < 0) then
Roller_v4 = 0
end
end
-----------------------------------------------
--computer--
Body_s = sim.getObjectPosition(Body,-1)
Ball_s = sim.getObjectPosition(Ball,-1)
X = Body_s[1] - Ball_s[1]
Y = Body_s[2] - Ball_s[2]
if 1 then
if X <= 0.02 and Y <= 0 then
sim.setJointTargetVelocity(LR1,-5)
elseif X > 0.02 and Y <= 0 then
sim.setJointTargetVelocity(LR1,2)
elseif X <= 0.02 and Y > 0 then
sim.setJointTargetVelocity(LR1,-5)
elseif X > 0.02 and Y > 0 then
sim.setJointTargetVelocity(LR1,2)
end
YYYYY = Y*7
sim.setJointTargetVelocity(L1,YYYYY)
end
Body_s2 = sim.getObjectPosition(Body2,-1)
X2_1 = Body_s2[1] - Ball_s[1]
Y2_1 = Body_s2[2] - Ball_s[2] - 0.15
Y2_2 = Body_s2[2] - Ball_s[2] + 0.15
if X2_1 >= 0.02 then
if Ball_s[2] <= -0.133 then
C_K_B_X2()
Y2_1 = Y2_1*5
sim.setJointTargetVelocity(L2,Y2_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X2()
Y2_2 = Y2_2*5
sim.setJointTargetVelocity(L2,Y2_2)
end
end
Body_s4 = sim.getObjectPosition(Body4,-1)
X4_1 = Body_s4[1] - Ball_s[1]
Y4_1 = Body_s4[2] - Ball_s[2] - 0.15
Y4_2 = Body_s4[2] - Ball_s[2] + 0.15
if X4_1 >= 0.02 then
if Ball_s[2] <= -0.133 then
C_K_B_X4()
Y4_1 = Y4_1*3
sim.setJointTargetVelocity(L4,Y4_1)
elseif Ball_s[2] > -0.133 then
C_K_B_X4()
Y4_2 = Y4_2*3
sim.setJointTargetVelocity(L4,Y4_2)
end
end
--[[
test_s = sim.getObjectPosition(test,-1)
M = test_s[2]- Ball_s[2]
print(M)
--]]
Body_s3 = sim.getObjectPosition(Body3,-1)
X3_1 = Body_s3[1] - Ball_s[1]
Y3_1 = Body_s3[2] - Ball_s[2]
Y3_2 = Body_s3[2] - Ball_s[2] +0.2487
Y3_3 = Body_s3[2] - Ball_s[2] -0.2487
if X3_1 >= 0.02 then
if Ball_s[2] < -0.0028 and Ball_s[2] >= -0.2487 then
C_K_B_X3()
Y3_1 = Y3_1*1.5
sim.setJointTargetVelocity(L3,Y3_1)
elseif Ball_s[2] >= -0.0028 then
C_K_B_X3()
Y3_2 = Y3_2*1.5
sim.setJointTargetVelocity(L3,Y3_2)
elseif Ball_s[2] < -0.2487 then
C_K_B_X3()
Y3_3 = Y3_3*1.5
sim.setJointTargetVelocity(L3,Y3_3)
end
end
end
function C_K_B_X2()
if X2_1 < 0.03 then
sim.setJointTargetVelocity(LR2,-5)
elseif X2_1 > 0.03 then
sim.setJointTargetVelocity(LR2,5)
end
end
function C_K_B_X3()
if X3_1 < 0.03 then
sim.setJointTargetVelocity(LR3,-5)
elseif X3_1 > 0.03 then
sim.setJointTargetVelocity(LR3,5)
end
end
function C_K_B_X4()
if X4_1 < 0.03 then
sim.setJointTargetVelocity(LR4,-5)
elseif X4_1 > 0.03 then
sim.setJointTargetVelocity(LR4,5)
end
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/ww5.ttt
回球判斷式-無軌道(包含計分判斷式)
一開始還沒有導球軌道時，為了不用一直關掉在啟動，寫了一個簡單的回位code，讓球經過球門時，由於球門有判斷式屬於邊界，一通過就會回到設定好的球。
而計分也是利用相通的方法，且由於此程式會自動形成迴圈所以讓他判斷成每當球經過時+1分後回傳。此程式為最初簡易版本。
.gif)
以下都更改於function sysCall_actuation()中
if 1 then --C_goalkeeper
if X <= 0.02 then
sim.setJointTargetVelocity(LR1,-5)
elseif X > 0.02 then
sim.setJointTargetVelocity(LR1,5)
end
end
----------------
if Ball_s[1] < -0.85 or Ball_s[1] >= 0.61 then
sim.setObjectPosition(Ball,-1,{-0.1429, -0.1334, 0.5})
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/Reborn.ttt
偽-回球判斷式-有軌道
也就是送球機構於上一章節的送球機構設計與模擬討論過
.gif)
function reborn_ball_count_goal()
if Ball_s[1] < -0.85 and Ball_s[3] > 0.12507 then
Player_G = Player_G + 1
-- sim.setObjectPosition(Ball,-1,{-0.13, -0.1334, 0.5})
end
if Ball_s[1] >= 0.61 and Ball_s[3] > 0.1251 then
Computer_G = Computer_G + 1
-- sim.setObjectPosition(Ball,-1,{-0.15, -0.1334, 0.5})
end
if Ball_s[3] > 0.1251 then
if Ball_s[1] < -0.85 or Ball_s[1] >= 0.61 then
print[[Player : Computer]]
print(' '..Computer_G..' '..Player_G)
end
end
if Ball_s[1] > 0.905 and Ball_s[2] < -0.069 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_1,1)
end
if Ball_s[1] < -1.15 and Ball_s[2] < -0.123 and Ball_s[3] < 0.036 then
sim.setJointTargetVelocity(Push_2,-1)
end
if Ball_s[3] > 0.036 then
sim.setJointTargetVelocity(Push_1,-1)
sim.setJointTargetVelocity(Push_2,1)
end
if Ball_s[1] < -1.156 and Ball_s[2] > 0.163 and Ball_s[3] > 0.058 then
sim.setObjectPosition(Ball,-1,{-0.20361, 0.2739, 0.15735})
end
if Ball_s[1] < -0.20361 and Ball_s[2] > 0.2740 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.2049, 0.23, 0.1482})
end
if Ball_s[1] > 0.9056 and Ball_s[2] < -0.4247 and Ball_s[3] > 0.0592 then
sim.setObjectPosition(Ball,-1,{-0.043425, -0.60401, 0.15735})
end
if Ball_s[1] > -0.04753 and Ball_s[2] < -0.5240 and Ball_s[3] > 0.15735 then
sim.setObjectPosition(Ball,-1,{-0.03667, -0.48443, 0.1482})
end
end
檔案:https://github.com/mdecadp2018/site-40623130/blob/gh-pages/v-rep/robot/C_Goal_4.3.ttt
問題與討論
Q1.怎麼沒有雙打?
A1.按鍵過多不好操控，最後會變成賽外賽?
Q2.彈性係數怎麼調整?
A2.彈性系數於球的材質中調整，而材質的調整在關係設定的下方，表中的Restitution就是了最大彈性為1最小為0，越大越彈。
.png)
T3:反作用設定:包含場地、球、桿件、人形 ((解釋起來很麻煩但大概是這樣
第一個為場地 : 第一行設定讓除了球、人形的桿件能反應但設定第八行讓球、人形可反應但桿件無法，其餘不勾選
.png)
第二個為球 : 第一行不勾選讓桿件與人行無法反應，但勾選其他行(第八)讓人形能反應
.png)
第三個為桿件 : 只與場地反應((這裡注意，桿件本身與人型成父子屬性
.png)
最後是人形 : 勾選第八行讓球反應可踢球且因與場地反應所以不出場地
.png)
理解這個需要一點邏輯...如果不懂就照勾選吧...
T4.運行時建議 先點一下烏龜 太快會增加電腦能力也有機率bug
.png)
Q5.怎麼不用python寫??
A5.我會選擇使用Vrep內嵌的Lua編寫的原因
優點:
python : 可執行運算值較大的編譯、可加外部其他的程式合用
lua : Vrep內部沿用 , 延遲現象較少、編譯很方便
缺點:
python : 會有爆ping問題導致延遲、產生很多衝突可能性高
lua : 太多運算時直接停止、內部函式限制多
目前體會到的優缺點大概就這樣，而且感覺我們班大部分的人都是用python 寫，所以我想用少數人用的lua。
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