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S1-B18

本人是stage1-bg18成員

stage1 所完成的 coppeliasim 場景, 採 Python remote API 進行操控。

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(按鍵指令)

Z............拉桿續力
"空白建".....拉桿前推
esc..........結束

◾實際操作影片

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(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('192.168.0.12', 19997, True, True, 5000, 5)

if clientID != -1:
    print ('Connected to remote API server')
    
    res = vrep.simxAddStatusbarMessage(
        clientID, "40823210",
        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,rod_handle=vrep.simxGetObjectHandle(clientID,"joint",opmode)
    ret,ro_handle=vrep.simxGetObjectHandle(clientID,"joint1",opmode)

    #ret,main = vrep.simxGetObjectHandle(clientID, "main", opmode)
    while True:
    
        #keyboard "Z" 
        if keyboard.is_pressed("Z"):
            vrep.simxSetJointTargetVelocity(clientID,rod_handle,1,opmode)
            
        #keyboard "space" 
        if keyboard.is_pressed("space"):
            vrep.simxSetJointTargetVelocity(clientID,rod_handle,-99999,opmode)  

        #keyboard "esc" 
        if  keyboard.is_pressed("esc"):
            vrep.simxStopSimulation(clientID, opmode)
            break
        
else:
    print ('Failed connecting to remote API server')
    print ('End')

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影片場景之ttt檔及其他相關檔案，可至本人的個人倉儲下載:

https://github.com/40823210/cd2021

(檔案位置:task2 ➝水球發射器)

task2 << Previous Next >> S2-B11