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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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