由組長40623128提供
import vrep
from time import sleep
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 = 45 #手把轉速設定(度/秒)
Move_Minus =-0.1 #手把水平移速(m/s)
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,BRod_handle=vrep.simxGetObjectHandle(clientID,'BRod',vrep.simx_opmode_oneshot_wait)
errorCode,BRev_handle=vrep.simxGetObjectHandle(clientID,'BRev',vrep.simx_opmode_oneshot_wait)
errorCode,BMo_handle=vrep.simxGetObjectHandle(clientID,'BMo',vrep.simx_opmode_oneshot_wait)
errorCode,RRev_handle=vrep.simxGetObjectHandle(clientID,'RRev',vrep.simx_opmode_oneshot_wait)
errorCode,RMo_handle=vrep.simxGetObjectHandle(clientID,'RMo',vrep.simx_opmode_oneshot_wait)
errorCode,RRod_handle=vrep.simxGetObjectHandle(clientID,'RRod',vrep.simx_opmode_oneshot_wait)
if errorCode == -1:
print('Can not find left or right motor')
sys.exit()
def stop():
errorCode = vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def start():
errorCode = vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def pause():
errorCode = vrep.simxPauseSimulation(clientID,vrep.simx_opmode_oneshot_wait)
def setting():
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
def getballposition():
#for i in range(steps):
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1] - position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1] - position_RR[1]
RRv =position_S[0] - position_RR[0]
while (n == 1):
if Bv <= 0 and BBv <= 0.02 and Rv<=0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv <= 0.02 and Rv<=0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv > 0.02 and Rv<=0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv > 0.02 and Rv<=0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv <= 0.02 and Rv>0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv <= 0.02 and Rv>0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv > 0.02 and Rv>0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv > 0.02 and Rv>0 and RRv <= 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv <= 0.02 and Rv<=0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv <= 0.02 and Rv<=0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv > 0.02 and Rv<=0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv > 0.02 and Rv<=0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv <= 0.02 and Rv>0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv <= 0.02 and Rv>0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv <= 0 and BBv > 0.02 and Rv>0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
elif Bv > 0 and BBv > 0.02 and Rv>0 and RRv > 0.02:
errorCode,position_BR=vrep.simxGetObjectPosition(clientID,BRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_RR=vrep.simxGetObjectPosition(clientID,RRod_handle,-1,vrep.simx_opmode_oneshot)
errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
Bv =position_S[1]- position_BR[1]
BBv =position_S[0] - position_BR[0]
Rv =position_S[1]- position_RR[1]
RRv =position_RR[0]-position_S[0]
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)
#print(RRv)
else:
pass
MMMB = Bv*1.2
MMMR = Rv*1.2
vrep.simxSetJointTargetVelocity(clientID,BMo_handle,MMMB,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RMo_handle,MMMR,vrep.simx_opmode_oneshot_wait)
#print(BBv)
vrep.simxSetJointTargetVelocity(clientID,BRev_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RRev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,RMo_handle,0,vrep.simx_opmode_oneshot_wait)
start()
getballposition()
stop()