vrep檔案位置:tablefootball.ttt
python原始碼:
import vrep
from time import sleep
import sys, math
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
KickBallV = 90 #手把轉速設定(度/秒)
Move_Minus =-0.1 #手把水平移速(m/s)
Move_Plus =0.1
n=1
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,BRod_handle=vrep.simxGetObjectHandle(clientID,'BRod',vrep.simx_opmode_oneshot_wait)
errorCode,BRev_handle=vrep.simxGetObjectHandle(clientID,'BRev',vrep.simx_opmode_oneshot_wait)
errorCode,BMo_handle=vrep.simxGetObjectHandle(clientID,'BMo',vrep.simx_opmode_oneshot_wait)
errorCode,RRev_handle=vrep.simxGetObjectHandle(clientID,'RRev',vrep.simx_opmode_oneshot_wait)
errorCode,RMo_handle=vrep.simxGetObjectHandle(clientID,'RMo',vrep.simx_opmode_oneshot_wait)
if errorCode == -1:
print('Can not find left or right motor')
sys.exit()
def stop():
errorCode = vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def start():
errorCode = vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def pause():
errorCode = vrep.simxPauseSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def getballposition():
errorCode,position_P=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_D=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
vv =position_D[1] - position_P[1]
vvv =position_D[2] - position_P[2]
while (n == 1):
if vv <= 0 and vvv <= 0.01:
errorCode,position_P=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_D=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
vv =position_D[1]- position_P[1]
vvv =position_D[0] - position_P[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
elif vv > 0 and vvv <= 0.01:
errorCode,position_P=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_D=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
vv =position_D[1]- position_P[1]
vvv =position_D[0] - position_P[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,0,vrep.simx_opmode_oneshot_wait)
elif vv <= 0 and vvv > 0.01:
errorCode,position_P=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_D=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
vv =position_D[1]- position_P[1]
vvv =position_D[0] - position_P[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,0,vrep.simx_opmode_oneshot_wait)
elif vv > 0 and vvv > 0.01:
errorCode,position_P=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_D=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
vv =position_D[1]- position_P[1]
vvv =position_D[0] - position_P[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,BMo_handle,vv,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RMo_handle,0,vrep.simx_opmode_oneshot_wait)
start()
getballposition()
stop()
＿