2.CoppeliaSim vrep 鍵盤控制 << Previous Next >> 4.逆向運動學函式
3.CoppeliaSim vrep 新增吸盤

雲端檔案
控制程式
function sysCall_init()
    -- do some initialization here
     axis2=sim.getObjectHandle('Revolute_joint3')
     axis8=sim.getObjectHandle('Revolute_joint5')
     axis0=sim.getObjectHandle('Prismatic_joint1')
     axis4=sim.getObjectHandle('Revolute_joint3')   
     suctionPad=sim.getObjectHandle('suctionPad') 
     rotation3 = 0
     rotation2 = 0
     distance3 = 0
     deg = math.pi/180
     --sim.sJointTargetVelocity(joint,5.5)
end
 
function sysCall_actuation()
 calibration = 0.0042
 message,auxiliaryData=sim.getSimulatorMessage()
 if (message==sim.message_keypress) then
      print(auxiliaryData[1])--key
      if (auxiliaryData[1]==string.byte(' ')) then
      end
      if (auxiliaryData[1]==97) then--a
      rotation1 = rotation1 + 5*deg
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==100) then --d
      rotation1 = rotation1 - 5*deg
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==2007) then --up
      distance3 = distance3 + 0.01 + calibration
      sim.setJointPosition(axis3, distance3)
      end
      if (auxiliaryData[1]==2008) then --down
      distance3 = distance3 - 0.01 - calibration
      sim.setJointPosition(axis3, distance3)
      end
       if (auxiliaryData[1]==101) then --e activate the suction pad
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
      end -- if e
      if (auxiliaryData[1]==113) then --q deactivate the suction pad
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
      end -- if q
      
 end   

end
function sysCall_sensing()
    -- put your sensing code here
end
 
function sysCall_cleanup()
    -- do some clean-up here
end
 
-- See the user manual or the available code snippets for additional callback functions and details
2.CoppeliaSim vrep 鍵盤控制 << Previous Next >> 4.逆向運動學函式