W14coppelia模擬 << Previous Next >> 直播影片
W15coppelia模擬

場景ttt檔和py檔可至:40823204下載
作品進度:將程式用lua改為python remote api 控制
按鍵指令
"1-4"控制輪子轉彎方向
"w" 蝸桿蝸輪控制車體向上
"d"蝸桿蝸輪控制車體向下
"a"車子向前
"d"車子向前後
import sim as vrep
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,joint=vrep.simxGetObjectHandle(clientID,"joint",opmode)
    ret,joint2=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,joint5=vrep.simxGetObjectHandle(clientID,"joint5",opmode)
    ret,joint3=vrep.simxGetObjectHandle(clientID,"joint3",opmode)
    ret,joint4=vrep.simxGetObjectHandle(clientID,"joint4",opmode)
    ds=0
    dff=0
    df=0
    db=0
    dbb=0
    vrep.simxSetJointTargetPosition(clientID,joint,ds,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint2,dff,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint5,df,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint3,db,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint4,dbb,opmode)
    
    while True:
        #Clockwise
        if keyboard.is_pressed("w"):
            ds=ds-0.01
            vrep.simxSetJointTargetPosition(clientID,joint,ds,opmode)
            print("up")
        if keyboard.is_pressed("s"):
            ds=ds+0.01
            vrep.simxSetJointTargetPosition(clientID,joint,ds,opmode)
            print("down")
        if keyboard.is_pressed("a"):
            df=df+0.2
            db=db+0.2
            dff=dff+0.2
            dbb=dbb+0.2
            vrep.simxSetJointTargetPosition(clientID,joint2,dff,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint5,df,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint3,db,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint4,dbb,opmode)
            print("left")
        if keyboard.is_pressed("d"):
            df=df-0.2
            db=db-0.2
            dff=dff-0.2
            dbb=dbb-0.2
            vrep.simxSetJointTargetPosition(clientID,joint2,dff,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint5,df,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint3,db,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint4,dbb,opmode)
            print("right")
        if keyboard.is_pressed("1"):
            df=df-0.2
            db=db-0.2
            vrep.simxSetJointTargetPosition(clientID,joint5,df,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint3,db,opmode)
            print("1") 
        if keyboard.is_pressed("2"):
            dff=dff-0.2
            dbb=dbb-0.2
            vrep.simxSetJointTargetPosition(clientID,joint2,dff,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint4,dbb,opmode)
            print("2") 
        if keyboard.is_pressed("3"):
            df=df+0.2
            db=db+0.2
            vrep.simxSetJointTargetPosition(clientID,joint5,df,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint3,db,opmode)
            print("3") 
        if keyboard.is_pressed("4"):
            dff=dff+0.2
            dbb=dbb+0.2
            vrep.simxSetJointTargetPosition(clientID,joint2,dff,opmode)
            vrep.simxSetJointTargetPosition(clientID,joint4,dbb,opmode)
            print("4")     
            
              
else:
    print ('Failed connecting to  remote API server')
    print ('End')
W14coppelia模擬 << Previous Next >> 直播影片