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task2-1

將個人在 stage1 與 stage2 所完成的 coppeliasim 場景, 採 Python remote API 進行操控.

Python remote API程式:

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19997)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('192.168.50.154', 19997, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
 
errorCode,U_motor_handle=vrep.simxGetObjectHandle(clientID,'U',vrep.simx_opmode_oneshot_wait)
 
errorCode,D_motor_handle=vrep.simxGetObjectHandle(clientID,'D',vrep.simx_opmode_oneshot_wait)
 
if errorCode == -1:
    print('Can not find U or D motor')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,U_motor_handle,0, vrep.simx_opmode_oneshot_wait)
errorCode=vrep.simxSetJointTargetVelocity(clientID,D_motor_handle,0, vrep.simx_opmode_oneshot_wait)

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