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第16週

電腦對電腦

程式碼：

function sysCall_init()

KickBallV = 10

R_KickBallVel = (math.pi/180)*KickBallV

B_KickBallVel = -(math.pi/180)*KickBallV

Sphere_handle=sim.getObjectHandle('Sphere')

BRod_handle=sim.getObjectHandle('BRod')

BRev_handle=sim.getObjectHandle('BRev')

BMo_handle=sim.getObjectHandle('BMo')

--

RRod_handle=sim.getObjectHandle('RRod')

RRev_handle=sim.getObjectHandle('RRev')

RMo_handle=sim.getObjectHandle('RMo')

end

function sysCall_actuation()

position_BR=sim.getObjectPosition(BRod_handle,-1)

position_S=sim.getObjectPosition(Sphere_handle,-1)

X =position_S[1] - position_BR[1]

Y =position_S[2] - position_BR[2]

if 1 then

if X <= 0.02 and Y <= 0 then

sim.setJointTargetVelocity(BRev_handle,B_KickBallVel)

sim.setJointTargetVelocity(BRev_handle,-1)

elseif X > 0.02 and Y <= 0 then

sim.setJointTargetVelocity(BRev_handle,B_KickBallVel)

sim.setJointTargetVelocity(BRev_handle,1)

elseif X <= 0.02 and Y > 0 then

sim.setJointTargetVelocity(BRev_handle,R_KickBallVel)

sim.setJointTargetVelocity(BRev_handle,-1)

elseif X > 0.02 and Y > 0 then

sim.setJointTargetVelocity(BRev_handle,R_KickBallVel)

sim.setJointTargetVelocity(BRev_handle,1)

end

YYYYY = Y*5

sim.setJointTargetVelocity(BMo_handle,YYYYY)

end

---

position_RR=sim.getObjectPosition(RRod_handle,-1)

X =position_S[1] - position_RR[1]

Y =position_S[2] - position_RR[2]

if 1 then

if X <= 0.02 and Y <= 0 then

sim.setJointTargetVelocity(RRev_handle,B_KickBallVel)

sim.setJointTargetVelocity(RRev_handle,-1)

elseif X > 0.02 and Y <= 0 then

sim.setJointTargetVelocity(RRev_handle,B_KickBallVel)

sim.setJointTargetVelocity(RRev_handle,1)

elseif X <= 0.02 and Y > 0 then

sim.setJointTargetVelocity(RRev_handle,R_KickBallVel)

sim.setJointTargetVelocity(RRev_handle,-1)

elseif X > 0.02 and Y > 0 then

sim.setJointTargetVelocity(RRev_handle,R_KickBallVel)

sim.setJointTargetVelocity(RRev_handle,1)

end

YYYYY = Y*5

sim.setJointTargetVelocity(RMo_handle,YYYYY)

end

--by 40623130--

./../downloads/tfootball.7z

原python code出處(by 40623128):

https://mdekmol.github.io/cd2019a-task1-2019cda_t1_g3_1/content/%E6%89%8B%E8%B6%B3%E7%90%83%E6%89%8B%E6%8E%A7%E8%88%87%E9%9B%BB%E8%85%A6%E5%B0%8D%E6%89%93.html

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