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task2

bubble

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
 
errorCode,left_motor_handle=vrep.simxGetObjectHandle(clientID,'bubbleRob_leftMotor',vrep.simx_opmode_oneshot_wait)
 
errorCode,right_motor_handle=vrep.simxGetObjectHandle(clientID,'bubbleRob_rightMotor',vrep.simx_opmode_oneshot_wait)
 
if errorCode == -1:
    print('Can not find left or right motor')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,left_motor_handle,10, vrep.simx_opmode_oneshot_wait)
errorCode=vrep.simxSetJointTargetVelocity(clientID,right_motor_handle,30, vrep.simx_opmode_oneshot_wait)

下列兩行為左右輪的轉數

STAGE1 API

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
errorCode,main_handle=vrep.simxGetObjectHandle(clientID,'main',vrep.simx_opmode_oneshot_wait)

 
if errorCode == -1:
    print('Can not find main')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,main_handle,10, vrep.simx_opmode_oneshot_wait)

模擬情況

STAGE2 API

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
errorCode,main01_handle=vrep.simxGetObjectHandle(clientID,'main01',vrep.simx_opmode_oneshot_wait)

 
if errorCode == -1:
    print('Can not find main01')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,main01_handle,10, vrep.simx_opmode_oneshot_wait)

模擬情況

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