s1

stage1升降裝置

1.程式控制方式:python remote api

內容:在stage1報告中,因還未熟悉coppelia的操作還未將coppelia模擬出來及寫入程式,但經過後來自己慢慢摸索和嘗試,已經把整體大概都模擬出來了,以下是我用remote api對場景做控制的畫面

coppelia檔案下載處:S1-2.zip

api.py檔案下載處:S1-2api.zip

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('192.168.50.217', 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")

2.程式控制方式:Lua script

程式碼

function sysCall_init()
    -- do some initialization here
    joint=sim.getObjectHandle('joint0')
    joint1=sim.getObjectHandle('joint1')
    dy=0
    dr=0
    dt=5
end

function sysCall_actuation()
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==32) then
            dy=dy-dt
            dr=dr+dt
            sim.setJointTargetPosition(joint,dy*math.pi/180)
            sim.setJointTargetPosition(joint1,dr*math.pi/180)
            end
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
    
end

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