逆向運算學函式 << Previous Next >> 直播影片
Python remote API

import sim as vrep
import math
import random
import time
import math

def moving(x,y):
        a=0.4
        b=0.4
        c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
        s=(a+b+c)/2
        area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
        h=area/(2*c)
        deg1_base=math.atan(x/y)
        if x<0 and y<0 :
            deg1_base=deg1_base+math.pi
        deg1_tri=math.asin(h/a)
        deg1=deg1_base+deg1_tri
        deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
        deg3=deg2-deg1
        vrep.simxSetJointTargetPosition(clientID,joint01,deg1,opmode)
        vrep.simxSetJointTargetPosition(clientID,joint02,-deg2,opmode)
        vrep.simxSetJointTargetPosition(clientID,joint03,deg3,opmode)

print ('Start')
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)

if clientID != -1:
    print ('Connected to remote API server')

    res = vrep.simxAddStatusbarMessage(
        clientID, "40823234",
        vrep.simx_opmode_oneshot)
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")


    opmode = vrep.simx_opmode_oneshot_wait
    STREAMING = vrep.simx_opmode_streaming


    vrep.simxStartSimulation(clientID, opmode)
    ret,joint01=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    ret,joint02=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,joint03=vrep.simxGetObjectHandle(clientID,"joint3",opmode)
    ret,joint04=vrep.simxGetObjectHandle(clientID,"jointz",opmode)
    
    vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
while True:
    moving(0.2,0.7)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
    time.sleep(1)
    moving(-0.3,-0.55)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint04,-0.07,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,joint04,0,opmode)
    time.sleep(1)
逆向運算學函式 << Previous Next >> 直播影片