CoppeliaSim 4.1.0 MTB robot << Previous Next >> 逆向運動學函式
MTB_robot add suction pad

影片:
主程式:
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')
     suctionPad=sim.getObjectHandle('suctionPad')       
     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
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==100) then --d
      rotation1 = rotation1 - 5*deg
      sim.setJointPosition(axis1, rotation1)
      end
      if (auxiliaryData[1]==119) then --s
      distance3 = distance3 + 0.01 + calibration
      sim.setJointPosition(axis3, distance3)
      end
      if (auxiliaryData[1]==115) then --w
      distance3 = distance3 - 0.01 - calibration
      sim.setJointPosition(axis3, distance3)
      end
       if (auxiliaryData[1]==112) then --p activate the suction pad
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
      end -- if p
        --按p可以吸取物體
      if (auxiliaryData[1]==113) then --q deactivate the suction pad
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
      end -- if q
        --按q可以放開物體
      
 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
CoppeliaSim 4.1.0 MTB robot << Previous Next >> 逆向運動學函式