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CoppeliaSim 4.1.0 MTB robot

影片:

Tips:要注意的是程式內部的名稱要跟軸的名字一樣,否則無法作動

程式碼:

function sysCall_init()
    -- do some initialization here
     axis1=sim.getObjectHandle('MTB_axis1')
     axis1=sim.getObjectHandle('MTB_axis2')
     axis3=sim.getObjectHandle('MTB_axis3')
     axis4=sim.getObjectHandle('MTB_axis4')     
     rotation1 = 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
      --逆時針轉每按一次增加5度
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==100) then --d
      rotation1 = rotation1 - 5*deg
     --順時針轉每按一次減少5度
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==119) then --s
      distance3 = distance3 + 0.01 + calibration
      --每按一次s軸就向下多0.01
      sim.setJointPosition(axis3, distance3)
      end
      if (auxiliaryData[1]==115) then --w
      distance3 = distance3 - 0.01 - calibration
      --每按一次w軸就向上多0.01
      sim.setJointPosition(axis3, distance3)
      end
  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

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