Task2 << Previous Next >> Stage 2

Stage 1

stage1-bg14

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('127.0.0.1', 19997, True, True, 5000, 5)
  
if clientID !=-1:
    print ('Connected to remote API server')
   
    res = vrep.simxAddStatusbarMessage(
        clientID, "40823242",
        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,vertical_handle=vrep.simxGetObjectHandle(clientID,"1",opmode)#設定軸對應名稱
 
    while True:
        #keyboard "w" 前進
     if keyboard.is_pressed("w"):
            print("up")
            
            vrep.simxSetJointTargetVelocity(clientID,vertical_handle,-0.01,opmode)
     if keyboard.is_pressed("s"):#keyboard "s" 後退
            print("down")
            
            vrep.simxSetJointTargetVelocity(clientID,vertical_handle,0.01,opmode)
 
     if keyboard.is_pressed("q"):#keyboard "q" 前進後退停止
            print("stop")
            
            vrep.simxSetJointTargetVelocity(clientID,vertical_handle,0,opmode)
      
else:
    print ('Failed connecting to  remote API server')
print ('End')

stage1-bg16

stage1-bg24

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('192.168.50.217', 19997, True, True, 5000, 5)
   
if clientID !=-1:
    print ('Connected to remote API server')
    
    res = vrep.simxAddStatusbarMessage(
        clientID, "40823204",
        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,joint0=vrep.simxGetObjectHandle(clientID,"joint0",opmode)
    ret,joint1=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    dy=0
    dr=0
    vrep.simxSetJointTargetPosition(clientID,joint0,dy,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint1,dr,opmode)
     
    while True:
        #Clockwise
        if keyboard.is_pressed("2"):
            dy=dy-0.1
            dr=dr+0.1
            vrep.simxSetJointTargetPosition(clientID,joint0,dy,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint1,dr,opmode)
            print("go")
  
else:
    print ('Failed connecting to  remote API server')
    print ('End')

Task2 << Previous Next >> Stage 2