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task2

使用 Python remote API 進行操控 stage1 與 stage2 所完成的 coppeliasim 場景

YT :

Python remote API 程式 stage 1

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
 
errorCode,boat_motor_handle=vrep.simxGetObjectHandle(clientID,'boat_motor',vrep.simx_opmode_oneshot_wait)
 
if errorCode == -1:
    print('Can not find motor')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,boat_motor_handle,0, vrep.simx_opmode_oneshot_wait)

Python remote API 程式 stage 2

import sim as vrep
import sys
# child threaded script: 
#simExtRemoteApiStart(19999)
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
 
if clientID!= -1:
    print("Connected to remote server")
else:
    print('Connection not successful')
    sys.exit('Could not connect')
 
errorCode,left_m_handle=vrep.simxGetObjectHandle(clientID,'left_m',vrep.simx_opmode_oneshot_wait)
 
errorCode,right_m_handle=vrep.simxGetObjectHandle(clientID,'right_m',vrep.simx_opmode_oneshot_wait)
 
if errorCode == -1:
    print('Can not find left or right motor')
    sys.exit()
 
errorCode=vrep.simxSetJointTargetVelocity(clientID,left_m_handle,0, vrep.simx_opmode_oneshot_wait)
errorCode=vrep.simxSetJointTargetVelocity(clientID,right_m_handle,0, vrep.simx_opmode_oneshot_wait)

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