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Coppeliasim避障自走車

模擬影片
(🔽程式碼)
function sysCall_init()
     
     
end
 
function sysCall_actuation()
     
end
 
function sysCall_sensing()
     
end
 
function sysCall_cleanup()
     
end
 
 
 
function sysCall_afterDelete(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." was deleted")
    end
     
end
 
function sysCall_afterCreate(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..value.." was created")
    end
end
--]]
function speedChange_callback(ui,id,newVal)
    speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100
end
 
function sysCall_init()
     
    bubbleRobBase=sim.getObjectAssociatedWithScript(sim.handle_self) 
    leftMotor=sim.getObjectHandle("bubbleRob_leftMotor") 
    rightMotor=sim.getObjectHandle("bubbleRob_rightMotor") 
    noseSensor=sim.getObjectHandle("bubbleRob_sensingNose") 
    minMaxSpeed={120*math.pi/180,300*math.pi/180} 
    backUntilTime=-1 
    
        xml = '<ui activate="false" closeable="false" resizeable="false" title="'..sim.getObjectName(bubbleRobBase)..' speed">'..[[
        <hslider id="1" maximum="100" minimum="0" onchange="speedChange_callback"></hslider>
        <label style="* {margin-left: 300px;" text=""></label>
        </ui>
        ]]
    ui=simUI.create(xml)
    speed=(minMaxSpeed[1]+minMaxSpeed[2])*1
    simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-minMaxSpeed[1]))
end
 
function sysCall_actuation()
    result=sim.readProximitySensor(noseSensor) 
     
    if (result>0) then backUntilTime=sim.getSimulationTime()+4 end 
 
    if (backUntilTime<sim.getSimulationTime()) then
         
        sim.setJointTargetVelocity(leftMotor,speed)
        sim.setJointTargetVelocity(rightMotor,speed)
    else
         
        sim.setJointTargetVelocity(leftMotor,-speed/5)
        sim.setJointTargetVelocity(rightMotor,-speed/200)
    end
end
 
function sysCall_cleanup()
    simUI.destroy(ui)
end
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