電腦控制對打

利用找球的座標位置，進入擊球範圍則打擊

回到發球區則自動發球

但程式在打擊的部分還是跟不太上球的速度

還需要再改良

Vrep模擬.ttt檔:https://github.com/mdekmol/cd2019a-task1-2019cda_t1_g3_1/blob/master/v-rep/40623141/vrep/0621.ttt

Vrep程式檔.py檔:https://github.com/mdekmol/cd2019a-task1-2019cda_t1_g3_1/blob/master/v-rep/40623141/vrep/0621.py

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 = 2500    
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,P_handle=vrep.simxGetObjectHandle(clientID,'P',vrep.simx_opmode_oneshot_wait)
errorCode,L_handle=vrep.simxGetObjectHandle(clientID,'L',vrep.simx_opmode_oneshot_wait)
errorCode,R_handle=vrep.simxGetObjectHandle(clientID,'R',vrep.simx_opmode_oneshot_wait)


vrep.simxSetJointTargetVelocity(clientID,P_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,L_handle,0,vrep.simx_opmode_oneshot_wait)
vrep.simxSetJointTargetVelocity(clientID,R_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:
    errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)
    
    if position_S[1] <= 0.195 and position_S[1] >0.075 and position_S[0]<-0.154 and position_S[0]>-0.194:
        speed(L_handle,R_KickBallVel)
    else:
        speed(L_handle,B_KickBallVel)

    if position_S[1] <= 0.195 and position_S[1] >0.075 and position_S[0]<-0.1 and position_S[0]>-0.121:
        speed(R_handle,B_KickBallVel)
    else:
        speed(R_handle,R_KickBallVel)
    
    if position_S[0]>-0.0226 and position_S[0]<-0.0176 and position_S[1]<0.0250 and position_S[1]>=0.0212:
        speed(P_handle,-1500)
    else: 
        speed(P_handle,1000)

#vrep.simxSetJointTargetVelocity(clientID,R1_handle,0,vrep.simx_opmode_oneshot_wait)