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手足球電腦對人(版本二)

檔案:https://github.com/mdekmol/cd2019a-task1-2019cda_t1_g6/blob/gh-pages/vrep%E6%AA%94%E6%A1%88/onecomputer.py

import vrep
import sys, math
import keyboard 
#導入鍵盤
# 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)
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')

KickBallV = 360  
R_KickBallVel = (math.pi/180)*KickBallV
B_KickBallVel = -(math.pi/180)*KickBallV

errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait)
errorCode,lmo_handle=vrep.simxGetObjectHandle(clientID,'lmo',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)
errorCode,rrov_handle=vrep.simxGetObjectHandle(clientID,'rrov',vrep.simx_opmode_oneshot_wait)
errorCode,lrov_handle=vrep.simxGetObjectHandle(clientID,'lrov',vrep.simx_opmode_oneshot_wait)
errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait)
#定義平移軸旋轉軸
vrep.simxSetJointTargetVelocity(clientID,lmo_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait)
   

def a1():
    errorCode=vrep.simxSetJointTargetVelocity(clientID,lmo_handle,-0.2,vrep.simx_opmode_oneshot_wait)
def d1():    
    errorCode=vrep.simxSetJointTargetVelocity(clientID,lmo_handle,0.2,vrep.simx_opmode_oneshot_wait)
def w1():    
     errorCode=vrep.simxSetJointTargetVelocity(clientID,lrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
def s1():
     errorCode=vrep.simxSetJointTargetVelocity(clientID,lrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
     errorCode=vrep.simxSetJointTargetVelocity(clientID,lmo_handle,0,vrep.simx_opmode_oneshot_wait)
#定義平移軸及旋轉軸的速度

#def speed(handle,speed):
    #errorCode=vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait)

def start():
    errorCode=vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
 
def getballposition():
    errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)
    errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
    vv =position_S[1] - position_BR[1]
    vvv =position_S[0] - position_BR[0]

    
    while True:
        if vv <= 0 and vvv <= 0.04:
            errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
            vv =position_S[1]- position_BR[1]
            vvv =position_S[0] - position_BR[0]
            vrep.simxSetJointTargetVelocity(clientID,rrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
          
        elif vv > 0 and vvv <= 0.04:
            errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
            vv =position_S[1]- position_BR[1]
            vvv =position_S[0] - position_BR[0]
            vrep.simxSetJointTargetVelocity(clientID,rrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
              
        elif vv <= 0 and vvv > 0.04:
            errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
            vv =position_S[1]- position_BR[1]
            vvv =position_S[0] - position_BR[0]
            vrep.simxSetJointTargetVelocity(clientID,rrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
          
        elif vv > 0 and vvv > 0.04:
            errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)
            errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
            vv =position_S[1]- position_BR[1]
            vvv =position_S[0] - position_BR[0]
            vrep.simxSetJointTargetVelocity(clientID,rrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
        try:
            if keyboard.is_pressed('a'):
                a1()
            elif keyboard.is_pressed('d'):
                d1()
            elif keyboard.is_pressed('w'):
                w1()
            elif keyboard.is_pressed('s'):    
                s1()
            else:
                pass
        except:
            break
        Mv = vv*2.3
        vrep.simxSetJointTargetVelocity(clientID,rmo_handle,Mv,vrep.simx_opmode_oneshot_wait)

start()
getballposition()  

#執行按建

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