程式碼

import vrep
import keyboard
import time
import sys, math     
# child threaded script: 
# 內建使用 port 19997 若要加入其他 port, 在  serve 端程式納入
#simExtRemoteApiStart(19999)
  
vrep.simxFinish(-1)


clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
KickBallV = 360
R_KickBallVel = (math.pi/180)*KickBallV
B_KickBallVel = -(math.pi/180)*KickBallV
if clientID!= -1:al
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
    
errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait)
errorCode,Pr1_handle=vrep.simxGetObjectHandle(clientID,'Pr1',vrep.simx_opmode_oneshot_wait)
errorCode,Re1_handle=vrep.simxGetObjectHandle(clientID,'Re1',vrep.simx_opmode_oneshot_wait)
errorCode,Re2_handle=vrep.simxGetObjectHandle(clientID,'Re2',vrep.simx_opmode_oneshot_wait)


vrep.simxSetJointTargetVelocity(clientID,Pr1_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,Re1_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,Re2_handle,0,vrep.simx_opmode_oneshot_wait)



vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
while True:
    try:
            if keyboard.is_pressed('a'): 
                vrep.simxSetJointTargetVelocity(clientID,Re1_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
            else:
                vrep.simxSetJointTargetVelocity(clientID,Re1_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
            if keyboard.is_pressed('l'):  
                vrep.simxSetJointTargetVelocity(clientID,Re2_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
            else:
                vrep.simxSetJointTargetVelocity(clientID,Re2_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
            if keyboard.is_pressed('up'): 
                vrep.simxSetJointTargetVelocity(clientID,Pr1_handle,6,vrep.simx_opmode_oneshot_wait)
            else:
                vrep.simxSetJointTargetVelocity(clientID,Pr1_handle,-200,vrep.simx_opmode_oneshot_wait)
    except:
            break