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python remoteApi程式
W16 api coppeliasim 場景檔
使用api操作MTB_ROBOT
以下為python程式碼:
import sim as vrep
import math
import random
import time
def moving(x,y):
a=0.55
b=0.368
c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
s=(a+b+c)/2
area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
h=area/(2*c)
deg1_base=math.atan(x/y)
if x<0 and y<0 :
deg1_base=deg1_base+math.pi
deg1_tri=math.atan(h/a)
deg1=deg1_base+deg1_tri
deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
deg3=deg2-deg1
vrep.simxSetJointTargetPosition(clientID,joint01,deg1,opmode)
vrep.simxSetJointTargetPosition(clientID,joint02,deg2,opmode)
vrep.simxSetJointTargetPosition(clientID,joint03,deg3,opmode)
print ('Start')
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
if clientID != -1:
print ('Connected to remote API server')
res = vrep.simxAddStatusbarMessage(
clientID, "This is teach by 40823214 ",
vrep.simx_opmode_oneshot)
if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
print("Could not add a message to the status bar.")
opmode = vrep.simx_opmode_oneshot_wait
STREAMING = vrep.simx_opmode_streaming
vrep.simxStartSimulation(clientID, opmode)
ret,joint01=vrep.simxGetObjectHandle(clientID,"joint01",opmode)
ret,joint02=vrep.simxGetObjectHandle(clientID,"joint02",opmode)
ret,joint03=vrep.simxGetObjectHandle(clientID,"joint03",opmode)
ret,jointz=vrep.simxGetObjectHandle(clientID,"jointz",opmode)
vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
vrep.simxSetJointTargetPosition(clientID,jointz,-0.04,opmode)
time.sleep(1)
vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
while True:
moving(0.2,0.7)
time.sleep(1)
vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
time.sleep(1)
vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
vrep.simxSetJointTargetPosition(clientID,jointz,-0.04,opmode)
time.sleep(1)
vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
moving(-0.3,-0.55)
time.sleep(1)
vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
time.sleep(1)
vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
vrep.simxSetJointTargetPosition(clientID,jointz,-0.04,opmode)
time.sleep(1)
vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
程式碼筆記:
ret,joint01=vrep.simxGetObjectHandle(clientID,"joint01",opmode)
vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
此三行程式碼對應到lua程式碼為:
joint01=sim.getObjectHandle('joint01')
sim.setJointTargetPosition(joint01,0)
sim.setIntegerSignal("pad_switch",1)
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