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task2
利用白窗以及鍵盤控制Coppeliasim
程式碼
import sim as vrep
import math
import random
import time
import keyboard
print ('Start')
# Close eventual old connections
vrep.simxFinish(-1)
# Connect to V-REP remote server
clientID = vrep.simxStart('192.168.1.111', 19997, True, True, 5000, 5)
if clientID !=-1:
print ('Connected to remote API server')
res = vrep.simxAddStatusbarMessage(
clientID, "40823231",
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
vrep.simxStartSimulation(clientID, opmode)
ret,shaft1=vrep.simxGetObjectHandle(clientID,"shaft_1",opmode)
ret,shaft2=vrep.simxGetObjectHandle(clientID,"shaft_2",opmode)
ret,shaft3=vrep.simxGetObjectHandle(clientID,"shaft_3",opmode)
while True:
if keyboard.is_pressed("w"):
vrep.simxSetJointTargetVelocity(clientID,shaft1,2,opmode)
print("w")
if keyboard.is_pressed("s"):
vrep.simxSetJointTargetVelocity(clientID,shaft1,0,opmode)
print("s")
if keyboard.is_pressed("a"):
vrep.simxSetJointTargetVelocity(clientID,shaft2,2,opmode)
print("a")
if keyboard.is_pressed("b"):
vrep.simxSetJointTargetVelocity(clientID,shaft2,0,opmode)
print("b")
if keyboard.is_pressed("c"):
vrep.simxSetJointTargetVelocity(clientID,shaft3,0.1,opmode)
print("c")
if keyboard.is_pressed("z"):
vrep.simxSetJointTargetVelocity(clientID,shaft3,0,opmode)
print("z")
else:
print ('Failed connecting to remote API server')
print ('End')
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