手足球人對人python << Previous Next >> 手足球電腦對人(版本二)

手足球電腦對人python

檔案下載:https://github.com/mdekmol/cd2019a-task1-2019cda_t1_g6/tree/gh-pages/vrep%E6%AA%94%E6%A1%88/handfootball(pc)

import vrep
import sys, math
import keyboard
# 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  
n=1
U_KickBallVel = (math.pi/180)*KickBallV
D_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,lmov_handle=vrep.simxGetObjectHandle(clientID,'lmov', vrep.simx_opmode_oneshot_wait)
errorCode,rmov_handle=vrep.simxGetObjectHandle(clientID,'rmov',vrep.simx_opmode_oneshot_wait)
errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait)
errorCode,rrev_handle=vrep.simxGetObjectHandle(clientID,'rrev',vrep.simx_opmode_oneshot_wait)
errorCode,R_handle=vrep.simxGetObjectHandle(clientID,'R',vrep.simx_opmode_oneshot_wait)
errorCode,L_handle=vrep.simxGetObjectHandle(clientID,'L',vrep.simx_opmode_oneshot_wait)


vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rrev_handle,0,vrep.simx_opmode_oneshot_wait)
def speed(handle,speed):
    errorCode = vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait)
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
#vrep.simxSetJointTargetVelocity(clientID,P1_handle,5,vrep.simx_opmode_oneshot_wait)
while True:
        errorCode,position_LB=vrep.simxGetObjectPosition(clientID,lrev_handle,-1,vrep.simx_opmode_oneshot)
        errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
        BB =position_S[1] - position_LB[1] #左右
        BBB =position_S[0] - position_LB[0]#前後
        #print(position_S)
        if BBB <0.07:
            speed(lrev_handle, D_KickBallVel)
        elif BBB >= 0.07:
            speed(lrev_handle, U_KickBallVel)
        else:
            pass
        try:
            if keyboard.is_pressed('5'): 
                vrep.simxSetJointTargetVelocity(clientID,rrev_handle,U_KickBallVel,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('0'):  
                vrep.simxSetJointTargetVelocity(clientID,rrev_handle,D_KickBallVel,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('3'):  
                vrep.simxSetJointTargetVelocity(clientID,rmov_handle,-1,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('2'):  
                vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('1'):  
                vrep.simxSetJointTargetVelocity(clientID,rmov_handle,1,vrep.simx_opmode_oneshot_wait)
            else:
                pass
        except:
                break
        Mv = BB*2.3
        vrep.simxSetJointTargetVelocity(clientID,lmov_handle,Mv,vrep.simx_opmode_oneshot_wait)

手足球人對人python << Previous Next >> 手足球電腦對人(版本二)