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導入w16的機械手臂

function sysCall_init()
    -- do some initialization here
     axis1=sim.getObjectHandle('MTB_axis1')
     axis2=sim.getObjectHandle('MTB_axis2')
     suctionPad=sim.getObjectHandle('suctionPad')     
     rotation1 = 0
     rotation2 = 0
     
     deg = math.pi/180
     
end
function sysCall_actuation()
 calibration = 0.05
 message,auxiliaryData=sim.getSimulatorMessage()
 if (message==sim.message_keypress) then
      --print(auxiliaryData[1])--key
      --if (auxiliaryData[1]==string.byte(' ')) then
      --end
      if (auxiliaryData[1]==119) then--w
      rotation2 = rotation2 + 1*deg
      sim.setJointPosition(axis2, rotation2)
      end
      -- Press the "w" key to turn axis2 5 degrees counterclockwise
      if (auxiliaryData[1]==115) then --s
      rotation2 = rotation2 - 1*deg
      sim.setJointPosition(axis2, rotation2)
      end
      -- Press the "s" key to turn axis2 5 degrees clockwise
      -- Press the "q" key to move up 0.01
      if (auxiliaryData[1]==122) then --z 
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
      end -- Press "z" key to activate the suction pad
      if (auxiliaryData[1]==120) then --x
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
      end -- Press "x" key to deactivate the suction pad
      if (auxiliaryData[1]==49) then --1
      V1=61.2012*deg
      V2=49.5059*deg
      sim.setJointPosition(axis1, V1)
      sim.setJointPosition(axis2, V2)
      end
      if (auxiliaryData[1]==50) then --2
      sim.setJointPosition(axis1, 0)
      sim.setJointPosition(axis2, 0)
      end
      --if (auxiliaryData[1]==51) then --3
      --V1=-158.2529*deg
      --V2=87.7894*deg
      --sim.setJointPosition(axis1, V1)
      --sim.setJointPosition(axis2, V2)
      --end
      
 end    

end
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