逆向運動學函式-鍵盤控制與程式迴圈方式 << Previous Next >> stage3 專案

Python remote API 逆向運動學函式

import sim as vrep
import sys
import time
import math

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

if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    
    vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)

def move(j1,j2,j4):
    ret,joint1=vrep.simxGetObjectHandle(clientID,"joint1",vrep.simx_opmode_blocking)
    ret,joint2=vrep.simxGetObjectHandle(clientID,"joint2",vrep.simx_opmode_blocking)
    ret,joint4=vrep.simxGetObjectHandle(clientID,"joint4",vrep.simx_opmode_blocking)
    jointHandle=[joint1,joint2,joint4]
    j=[j1*math.pi/180,j2*math.pi/180,j4*math.pi/180]
    for i in range(3):
        vrep.simxSetJointPosition(clientID,jointHandle[i],j[i],vrep.simx_opmode_oneshot)
        time.sleep(0.5)
def suck():
    vrep.simxSetIntegerSignal(clientID,"active",1,vrep.simx_opmode_oneshot_wait)
def quit():
    vrep.simxSetIntegerSignal(clientID,"active",0,vrep.simx_opmode_oneshot_wait)



while True:
    move(0,0,0)
    quit()
    move(0,0,-2)
    suck()
    
    move(40.9472,-68.978,0)
    quit()
   
    move(40.9472,-68.978,0)
    move(40.9472,-68.978,-2)
    suck()
    move(40.9472,-68.978,0)
    
    move(-158.2529,-89.6799,0)
    quit()
   
    move(-158.2529,-89.6799,0)
    move(-158.2529,-89.6799,-2)
    suck()
    move(-158.2529,-89.6799,0)

心得:

這次作業對我來說非常的有挑戰性，由於我對程式還沒有很熟練，導致在製作時一直發生問題，詢問 40823131跟 40823112,在他們指導下瞭解FOR迴圈的製作與API,讓我了解到哪裡需要加強

逆向運動學函式-鍵盤控制與程式迴圈方式 << Previous Next >> stage3 專案