手足球電腦對電腦(版本二)

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import vrep import sys, math # child threaded script: # 內建使用 port 19997 若要加入其他 port, 在  serve 端程式納入 #simExtRemoteApiStart(19999)     vrep.simxFinish(-1)     clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) if clientID!= -1:     print("Connected to remote server") else:     print('Connection not successful')     sys.exit('Could not connect')   KickBallV = 360  R_KickBallVel = (math.pi/180)*KickBallV B_KickBallVel = -(math.pi/180)*KickBallV   errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait) errorCode,lmo_handle=vrep.simxGetObjectHandle(clientID,'lmo',vrep.simx_opmode_oneshot_wait) errorCode,rrev_handle=vrep.simxGetObjectHandle(clientID,'rrev',vrep.simx_opmode_oneshot_wait) errorCode,rmo_handle=vrep.simxGetObjectHandle(clientID,'rmo',vrep.simx_opmode_oneshot_wait) errorCode,rrov_handle=vrep.simxGetObjectHandle(clientID,'rrov',vrep.simx_opmode_oneshot_wait) errorCode,lrov_handle=vrep.simxGetObjectHandle(clientID,'lrov',vrep.simx_opmode_oneshot_wait) errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait) #定義平移軸旋轉軸 vrep.simxSetJointTargetVelocity(clientID,lmo_handle,0,vrep.simx_opmode_oneshot_wait) vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait)          #定義平移軸及旋轉軸的速度   def start():     errorCode=vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)    def getballposition():     errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)     errorCode,position_B1R=vrep.simxGetObjectPosition(clientID,lrov_handle,-1,vrep.simx_opmode_oneshot)     errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)     vv =position_S[1] - position_BR[1]     vvv =position_S[0] - position_BR[0]     Bvv =position_S[1] - position_B1R[1]     Bvvv =position_S[0] - position_B1R[0]             while True:         if vv <= 0 and vvv <= 0.04:             errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             vv =position_S[1]- position_BR[1]             vvv =position_S[0] - position_BR[0]             vrep.simxSetJointTargetVelocity(clientID,rrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)                     elif vv > 0 and vvv <= 0.04:             errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             vv =position_S[1]- position_BR[1]             vvv =position_S[0] - position_BR[0]             vrep.simxSetJointTargetVelocity(clientID,rrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)                         elif vv <= 0 and vvv > 0.04:             errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             vv =position_S[1]- position_BR[1]             vvv =position_S[0] - position_BR[0]             vrep.simxSetJointTargetVelocity(clientID,rrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)                     elif vv > 0 and vvv > 0.04:             errorCode,position_BR=vrep.simxGetObjectPosition(clientID,rrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             vv =position_S[1]- position_BR[1]             vvv =position_S[0] - position_BR[0]             vrep.simxSetJointTargetVelocity(clientID,rrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)         if Bvv <= 0 and Bvvv > -0.04:             errorCode,position_B1R=vrep.simxGetObjectPosition(clientID,lrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             Bvv =position_S[1]- position_B1R[1]             Bvvv =position_S[0] - position_B1R[0]             vrep.simxSetJointTargetVelocity(clientID,lrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)                     elif Bvv > 0 and Bvvv > -0.04:             errorCode,position_B1R=vrep.simxGetObjectPosition(clientID,lrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             Bvv =position_S[1]- position_B1R[1]             Bvvv =position_S[0] - position_B1R[0]             vrep.simxSetJointTargetVelocity(clientID,lrev_handle,R_KickBallVel,vrep.simx_opmode_oneshot_wait)                         elif Bvv <= 0 and Bvvv < -0.04:             errorCode,position_B1R=vrep.simxGetObjectPosition(clientID,lrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             Bvv =position_S[1]- position_B1R[1]             Bvvv =position_S[0] - position_B1R[0]             vrep.simxSetJointTargetVelocity(clientID,lrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)                     elif Bvv > 0 and Bvvv < -0.04:             errorCode,position_B1R=vrep.simxGetObjectPosition(clientID,lrov_handle,-1,vrep.simx_opmode_oneshot)             errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)             Bvv =position_S[1]- position_B1R[1]             Bvvv =position_S[0] - position_B1R[0]             vrep.simxSetJointTargetVelocity(clientID,lrev_handle,B_KickBallVel,vrep.simx_opmode_oneshot_wait)                          else:             pass         Mv = vv*2.3         Mv = Bvv*2.3         vrep.simxSetJointTargetVelocity(clientID,rmo_handle,Mv,vrep.simx_opmode_oneshot_wait)         vrep.simxSetJointTargetVelocity(clientID,lmo_handle,Mv,vrep.simx_opmode_oneshot_wait)   start() getballposition()    #執行按建