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Previous 鍵盤控制
a=第一軸順時針轉
d=第一軸逆時針轉
w=第二軸逆時針轉
s=第二軸順時針轉
下=吸盤向下並吸住
上=吸盤向上
左=吸盤逆時針轉
右=吸盤順時針轉
空白鍵=吸盤向下並放開
function sysCall_init()
joint01=sim.getObjectHandle('joint1')
joint02=sim.getObjectHandle('joint2')
joint03=sim.getObjectHandle('joint3')
jointz=sim.getObjectHandle('jointz')
sim.setJointTargetPosition(joint01,0)
sim.setJointTargetPosition(joint02,0)
sim.setJointTargetPosition(joint03,0)
sim.setJointTargetPosition(jointz,0)
deg1=0
deg2=0
deg3=0
end
function sysCall_actuation()
message,auxiliaryData=sim.getSimulatorMessage()
while message~=-1 do
if (message==sim.message_keypress) then
if (auxiliaryData[1]==100) then
print("d")
deg1=deg1+1
sim.setJointTargetPosition(joint01,deg1*math.pi/180)
end
if (auxiliaryData[1]==97) then
print("a")
deg1=deg1-1
sim.setJointTargetPosition(joint01,deg1*math.pi/180)
end
if (auxiliaryData[1]==119) then
print("w")
deg2=deg2+1
sim.setJointTargetPosition(joint02,deg2*math.pi/180)
end
if (auxiliaryData[1]==115) then
print("s")
deg2=deg2-1
sim.setJointTargetPosition(joint02,deg2*math.pi/180)
end
if (auxiliaryData[1]==2008) then
print("down")
sim.setIntegerSignal("pad_switch",1)
sim.setJointTargetPosition(jointz,-0.015)
end
if (auxiliaryData[1]==2007) then
print("up")
sim.setJointTargetPosition(jointz,0)
end
if (auxiliaryData[1]==32) then
print("spase")
sim.setJointTargetPosition(jointz,-0.015)
sim.setIntegerSignal("pad_switch",0)
end
if (auxiliaryData[1]==2010) then
print("right")
deg3=deg3+1
sim.setJointTargetPosition(joint03,deg3*math.pi/180)
end
if (auxiliaryData[1]==2009) then
print("left")
deg3=deg3-1
sim.setJointTargetPosition(joint03,deg3*math.pi/180)
end
end
message,auxiliaryData=sim.getSimulatorMessage()
end
end
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