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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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