stage3模擬

stage3模擬，但模擬過程中，一開始的擊球機構沒控制好的話會把球彈到後面去，這邊還需要修改一下，這次是用lua的程式碼下去，可以用鍵盤控制，分別是q、p、a、;、z、.。

import sim as vrep
import math
import random
import time
import keyboard
 
print ('Start')
 
# Close eventual old connections
vrep.simxFinish(-1)
# Connect to V-REP remote server
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, "40823222",
        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
     
    vrep.simxStartSimulation(clientID, opmode)
    ret,shaft1=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    ret,shaft2=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,shaft3=vrep.simxGetObjectHandle(clientID,"joint3",opmode)

    while True:
        if keyboard.is_pressed("q"):
            vrep.simxSetJointTargetPosition(clientID,shaft1,-200,opmode)
            print("q")
            
        if keyboard.is_pressed("p"):
            vrep.simxSetJointTargetPosition(clientID,shaft1,200,opmode)
            print("p")
            
        if keyboard.is_pressed("a"):
            vrep.simxSetJointTargetPosition(clientID,shaft2,90,opmode)
            print("a")

        if keyboard.is_pressed(";"):
            vrep.simxSetJointTargetPosition(clientID,shaft2,0,opmode)
            print(";")
            
        if keyboard.is_pressed("z"):
            vrep.simxSetJointTargetPosition(clientID,shaft3,90,opmode)
            print("z")

        if keyboard.is_pressed("."):
            vrep.simxSetJointTargetPosition(clientID,shaft3,0,opmode)
            print(".")            
else:
    print ('Failed connecting to  remote API server')
    print ('End')

if keyboard.is_pressed("q"):
vrep.simxSetJointTargetPosition(clientID,shaft1,-200,opmode)

假設說按鍵按q的話，shaft1的旋轉軸會移動角度到-200度。

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