手足球電腦對電腦

檔案下載::https://github.com/mdekmol/cd2019a-task1-2019cda_t1_g6/tree/gh-pages/vrep%E6%AA%94%E6%A1%88

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import vrep import sys, math import keyboard # 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) KickBallV = 360  up_KickBallVel = (math.pi/180)*KickBallV d_KickBallVel = -(math.pi/180)*KickBallV if clientID!= -1:     print("Connected to remote server") else:     print('Connection not successful')     sys.exit('Could not connect')   errorCode,Sphere_handle=vrep.simxGetObjectHandle(clientID,'Sphere',vrep.simx_opmode_oneshot_wait) errorCode,lmov_handle=vrep.simxGetObjectHandle(clientID,'lmov', vrep.simx_opmode_oneshot_wait) errorCode,rmov_handle=vrep.simxGetObjectHandle(clientID,'rmov',vrep.simx_opmode_oneshot_wait) errorCode,lrev_handle=vrep.simxGetObjectHandle(clientID,'lrev',vrep.simx_opmode_oneshot_wait) errorCode,rrev_handle=vrep.simxGetObjectHandle(clientID,'rrev',vrep.simx_opmode_oneshot_wait) errorCode,R_handle=vrep.simxGetObjectHandle(clientID,'R',vrep.simx_opmode_oneshot_wait) errorCode,L_handle=vrep.simxGetObjectHandle(clientID,'L',vrep.simx_opmode_oneshot_wait)     vrep.simxSetJointTargetVelocity(clientID,lmov_handle,0,vrep.simx_opmode_oneshot_wait) vrep.simxSetJointTargetVelocity(clientID,rmov_handle,0,vrep.simx_opmode_oneshot_wait) vrep.simxSetJointTargetVelocity(clientID,lrev_handle,0,vrep.simx_opmode_oneshot_wait) vrep.simxSetJointTargetVelocity(clientID,rrev_handle,0,vrep.simx_opmode_oneshot_wait) def speed(handle,speed):     errorCode = vrep.simxSetJointTargetVelocity(clientID,handle,speed,vrep.simx_opmode_oneshot_wait) vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait) #vrep.simxSetJointTargetVelocity(clientID,P1_handle,5,vrep.simx_opmode_oneshot_wait) while True:         errorCode,position_LB=vrep.simxGetObjectPosition(clientID,lrev_handle,-1,vrep.simx_opmode_oneshot)         errorCode,position_S=vrep.simxGetObjectPosition(clientID,Sphere_handle,-1,vrep.simx_opmode_oneshot)         errorCode,position_RB=vrep.simxGetObjectPosition(clientID,rrev_handle,-1,vrep.simx_opmode_oneshot)         BB =position_S[1] - position_LB[1] #左右         BBB =position_S[0] - position_LB[0]#前後         AA =position_S[1] - position_RB[1] #左右         AAA =position_S[0] - position_RB[0]#前後         #print(position_S)         if BBB <0.07:             speed(lrev_handle, d_KickBallVel)         elif BBB >= 0.07:             speed(lrev_handle, up_KickBallVel)         if AAA >-0.07:             speed(rrev_handle, up_KickBallVel)         elif AAA <= -0.07:             speed(rrev_handle, d_KickBallVel)         else:             pass         Mv = BB*3.3         vrep.simxSetJointTargetVelocity(clientID,lmov_handle,Mv,vrep.simx_opmode_oneshot_wait)         Mvv = AA*3.3         vrep.simxSetJointTargetVelocity(clientID,rmov_handle,Mvv,vrep.simx_opmode_oneshot_wait)