Lua鍵盤控制 << Previous Next >> stage1四驅車延伸
python remote api

利用python remote api 在軟體外部控制方塊取放
python remote api程式碼▼
import sim as vrep
import math
import random
import time
import math

def moving(x,y):
    a=0.400
    b=0.400
    c=math.pow(math.pow(x,2)+math.pow(y,2),0.5)
    s=(a+b+c)/2
    area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
    h=area/(2*c)
    deg1_base=math.atan(x/y)
    if x<0 and y<0 :
        deg1_base=deg1_base+math.pi
    deg1_tri=math.asin(h/a)
    deg1=deg1_base+deg1_tri
    deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
    deg3=deg2-deg1
    vrep.simxSetJointTargetPosition(clientID,joint01, deg1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint02, -deg2,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03, deg3,opmode)


print('start')

vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote API server")
    
    res=vrep.simxAddStatusbarMessage(
        clientID,"123",
        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,joint01=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    ret,joint02=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,joint03=vrep.simxGetObjectHandle(clientID,"joint3",opmode)
    ret,jointz=vrep.simxGetObjectHandle(clientID,"jointz",opmode)
    
    vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.056,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    while True:
        moving(0.2,0.7)
        time.sleep(1)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(1)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.056,opmode)
        time.sleep(1)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
        moving(-0.3,-0.55)
        time.sleep(1)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
        time.sleep(1)
        vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
        vrep.simxSetJointTargetPosition(clientID,jointz,-0.056,opmode)
        time.sleep(1)
        vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
成果影片▼
Lua鍵盤控制 << Previous Next >> stage1四驅車延伸