程式

人對人對打

import vrep
import sys, math
import keyboard
# 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)
#將python匯入vrep
KickBallV = 360  
n=1
U_KickBallVel = (math.pi/180)*KickBallV
D_KickBallVel = -(math.pi/180)*KickBallV
#加入旋轉軸
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
#將python匯入vrep
errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait)
errorCode,lmov_handle=vrep.simxGetObjectHandle(clientID,'lmov', vrep.simx_opmode_oneshot_wait)
errorCode,rmov_handle=vrep.simxGetObjectHandle(clientID,'rmov',vrep.simx_opmode_oneshot_wait)
errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait)
errorCode,rrev_handle=vrep.simxGetObjectHandle(clientID,'rrev',vrep.simx_opmode_oneshot_wait)
#python語法 指定物件

vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,rrev_handle,0,vrep.simx_opmode_oneshot_wait)

vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
#vrep.simxSetJointTargetVelocity(clientID,P1_handle,5,vrep.simx_opmode_oneshot_wait)
while True:
    try:
            if keyboard.is_pressed('s'): 
                vrep.simxSetJointTargetVelocity(clientID,lrev_handle,U_KickBallVel ,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('w'):  
                vrep.simxSetJointTargetVelocity(clientID,lrev_handle,D_KickBallVel ,vrep.simx_opmode_oneshot_wait)
            if keyboard.is_pressed('a'):  
                vrep.simxSetJointTargetVelocity(clientID,lmov_handle,-0.5,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('d'):  
                vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0.5,vrep.simx_opmode_oneshot_wait)
                #使用鍵盤的w.a.s.d操控
            else:
                vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0,vrep.simx_opmode_oneshot_wait)
            if keyboard.is_pressed('8'):  
                vrep.simxSetJointTargetVelocity(clientID,rrev_handle,U_KickBallVel ,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('5'):  
                vrep.simxSetJointTargetVelocity(clientID,rrev_handle,D_KickBallVel ,vrep.simx_opmode_oneshot_wait)
            if keyboard.is_pressed('4'):  
                vrep.simxSetJointTargetVelocity(clientID,rmov_handle,-0.5,vrep.simx_opmode_oneshot_wait)
            elif keyboard.is_pressed('6'):  
                vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0.5,vrep.simx_opmode_oneshot_wait)
                #使用鍵盤的8,4,5,6操控
            else:
                 vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait)   
    except:
            break

彈珠檯

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 = 2000
Move_Minus =-0.1        
Move_Plus =0.1
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 speed(handle,speed):
    errorCode = vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait)

vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
while True:
    try:
            if keyboard.is_pressed('5'): 
                speed(R1_handle,B_KickBallVel)
            else:
                speed(R1_handle,R_KickBallVel)
            if keyboard.is_pressed('a'):  
                speed(P1_handle,500)
            else: 
                speed(P1_handle,-500)

            if keyboard.is_pressed('s'):  
                speed(R2_handle,R_KickBallVel)
            else:
                speed(R2_handle,B_KickBallVel)

    except:
            break
#vrep.simxSetJointTargetVelocity(clientID,R1_handle,0,vrep.simx_opmode_oneshot_wait)