第15週 << Previous Next >> W15
模擬影片

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('192.168.1.110', 19997, True, True, 5000, 5)
  
if clientID !=-1:
    print ('Connected to remote API server')
   
    res = vrep.simxAddStatusbarMessage(
        clientID, "all start",
        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,wheel1=vrep.simxGetObjectHandle(clientID,"wheel_1",opmode)
    ret,wheel2=vrep.simxGetObjectHandle(clientID,"wheel_2",opmode)
    ret,wheel3=vrep.simxGetObjectHandle(clientID,"wheel_3",opmode)
    ret,wheel4=vrep.simxGetObjectHandle(clientID,"wheel_4",opmode)

    while True:
        if keyboard.is_pressed("g"):
            vrep.simxSetJointTargetVelocity(clientID,wheel1,20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel2,20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel3,20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel4,20,opmode)
            print("go")
            
        if keyboard.is_pressed("r"):
            vrep.simxSetJointTargetVelocity(clientID,wheel1,-20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel2,-20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel3,-20,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel4,-20,opmode)
            print("back")
            
        if keyboard.is_pressed("s"):
            vrep.simxSetJointTargetVelocity(clientID,wheel1,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel2,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel3,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,wheel4,0,opmode)
            print("stop")
        
else:
    print ('Failed connecting to  remote API server')
    print ('End')
第15週 << Previous Next >> W15