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W5

Stage2 開始執行，討論後決定以第一組的專題主題繼續進行下去。

組別 : stage2-ag1

組員 : 40823145、40823108、40823112、40823109

為了讓模型能夠按照我們的意思做動，嘗試著編寫Lua程式並以方向鍵進行控制。

下方為第一次測試的程式

Lua程式:

threadFunction=function()
    -- put your actuation code here
 while sim.getSimulationState()~=sim.simulation_advancing_abouttostop do
    -- Read the keyboard messages (make sure the focus is on the main window, scene view):
        message,auxiliaryData=sim.getSimulatorMessage()
        while message~=-1 do
            if (message==sim.message_keypress) then
if (auxiliaryData[1]==2007) then
                -- up key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2008) then
                -- down key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2009) then
                -- left key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2010) then
                -- right key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
    if Shape4 == 1
        then sim.setJointPosition(joint_1, 1000, orientation)
    if Shape7 == 1
        then sim.setJointPosition(joint_2, 1000, orientation)
    end
        sim.setJointTargetVelocity(joint,velocity)
    end
        joint_1=sim.getObjectHandle('joint_1')
        joint_2=sim.getObjectHandle('joint_2')
        Shape4=sim.getObjectHandle('Shape4')
        Shape7=sim.getObjectHandle('Shape7')
        velocity=0
        torque=0
        Shape4 = 0
        Shape7 = 0
end

因部分語法有誤，日後待除錯。

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