期末彈珠檯(課堂製作)
期末彈珠檯(更改球檯)
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 | |
n=1 | |
R_KickBallVel = (math.pi/180)*KickBallV | |
B_KickBallVel = -(math.pi/180)*KickBallV | |
if clientID!= -1: | |
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,P1_handle=vrep.simxGetObjectHandle(clientID,'P1',vrep.simx_opmode_oneshot_wait) | |
errorCode,R1_handle=vrep.simxGetObjectHandle(clientID,'R1',vrep.simx_opmode_oneshot_wait) | |
errorCode,R2_handle=vrep.simxGetObjectHandle(clientID,'R2',vrep.simx_opmode_oneshot_wait) | |
vrep.simxSetJointTargetVelocity(clientID,P1_handle,0,vrep.simx_opmode_oneshot_wait) | |
vrep.simxSetJointTargetVelocity(clientID,R1_handle,0,vrep.simx_opmode_oneshot_wait) | |
vrep.simxSetJointTargetVelocity(clientID,R2_handle,0,vrep.simx_opmode_oneshot_wait) | |
def con(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,R1_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait) | |
def clo(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,R1_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait) | |
def right(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,P1_handle,2,vrep.simx_opmode_oneshot_wait) | |
def left(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,P1_handle,-200,vrep.simx_opmode_oneshot_wait) | |
def con1(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,R2_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait) | |
def clo1(): | |
errorCode = vrep.simxSetJointTargetVelocity(clientID,R2_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait) | |
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait) | |
while True: | |
try: | |
if keyboard.is_pressed('a'): | |
con() | |
else: | |
clo() | |
if keyboard.is_pressed('Up Arrow'): | |
right() | |
else: | |
left() | |
if keyboard.is_pressed('l'): | |
clo1() | |
else: | |
con1() | |
except: | |
break |