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  • Home
    • Site Map
    • reveal
    • blog
  • About
  • 小組作業
    • W9 統整各組資料
    • W10 stage3討論
      • ipv4操作
      • task1測試
    • W11 OBS使用教學
    • W12 上課直播
    • W13 Gitlab建立
      • gitlab-ssh
    • W14 robotDK測試
    • W15 影片翻譯
    • W16 取分項目
  • Gogs建立教學
    • fossil
  • TASK2測試區
    • 整體生產線
    • 掃地機器人
    • 分球機
    • 堆高機
    • 夾爪機構
    • 遊樂設施
  • 小組影片
  • 直播影片
整體生產線 << Previous Next >> 分球機

掃地機器人

掃地機器人

測試組員:40823245

第一版(py檔)    日期:2021/05/05

說明:先利用簡單的機構去測試是否遷入成功及程式是否可執行。

第二版(py檔)

注意:本次影片測試速度設定為0故在原地不動。
問題:出現不正常運動軌跡、異常抖動情況。

第三版(py檔)    日期:2021/05/06

說明:將原本機構簡化判斷是否為機構圖之問題。

測試4(py檔、py檔-1):用api頁面操作

測試5(檔同上測試4):新增x-y時間位置圖

測試6(py檔):鍵盤控制

頁面操作程式碼:

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'''remoteApiConnections.txt file content:
 
// Let's start a continuous remote API server service on port 19997:
portIndex1_port             = 19997
portIndex1_debug            = false
portIndex1_syncSimTrigger   = true
19998:
portIndex2_port             = 19998
portIndex2_debug            = false
portIndex2_syncSimTrigger   = true
'''
from flask import Flask, render_template, redirect
from vrep_linefollower import VrepLineFollower
 
line_follower = VrepLineFollower()
 
app = Flask(__name__)
 
@app.route("/")
def index():
  return render_template('controls.html')
 
@app.route('/do/<direction>')
def do(direction):
  global line_follower
  line_follower.to_direction(direction)
  return redirect('/')
 
 
if __name__ == '__main__':
  app.run(host='192.168.192.111')

頁面操作程式碼-1:

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import sim as vrep
 
clientID = vrep.simxStart('192.168.192.111', 19997, True, True, 5000, 5)
  
if clientID != -1:
    print ('Connected to remote API server')
  
    res = vrep.simxAddStatusbarMessage(
        clientID, "text",
        vrep.simx_opmode_oneshot)
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")
else:
       print ('Failed connecting to remote API server')
 
class VrepLineFollower:
  def __init__(self):
    vrep.simxFinish(-1) # just in case, close all opened connections
    self.clientID = vrep.simxStart('192.168.192.111', 19997, True, True, 5000, 5)
    vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)
     
    self.wheelRadius = 0.027
    self.linearVelocityLeft  = 0.1
    self.linearVelocityRight = 0.1
     
    # vectors [left, right]
    self.direction_v = {
     'up':    [ 0.01,  0.01],
     'down':  [-0.01, -0.01],
     'left':  [-0.01,  0.01],
     'right': [ 0.01, -0.01]
    }
 
    res, self.leftJointDynamic  = vrep.simxGetObjectHandle(self.clientID, "LBMotor",  vrep.simx_opmode_oneshot_wait)
    res, self.rightJointDynamic = vrep.simxGetObjectHandle(self.clientID, "RBMotor", vrep.simx_opmode_oneshot_wait)
 
  # direction = 'up' | 'down' | 'left' | 'right'
  def to_direction(self, direction):
        direction_vector = self.direction_v[direction]
        self.linearVelocityLeft  += direction_vector[0]
        self.linearVelocityRight += direction_vector[1]
        self.set_motors()
 
  # private
  def set_motors(self):
        t_left  = self.linearVelocityLeft  / self.wheelRadius
        t_right = self.linearVelocityRight / self.wheelRadius
        vrep.simxSetJointTargetVelocity(self.clientID, self.leftJointDynamic,  t_left,  vrep.simx_opmode_oneshot_wait)
        vrep.simxSetJointTargetVelocity(self.clientID, self.rightJointDynamic, t_right, vrep.simx_opmode_oneshot_wait)

鍵盤操作程式碼:

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import sim as vrep
import math
import random
import time
import keyboard
 
print ('Start')
 
# Close eventual old connections
vrep.simxFinish(-1)
# Connect to V-REP remote server
clientID = vrep.simxStart('192.168.192.111', 19997, True, True, 5000, 5)
  
if clientID !=-1:
    print ('Connected to remote API server')
   
    res = vrep.simxAddStatusbarMessage(
        clientID, "40823245",
        vrep.simx_opmode_oneshot)
          
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")
          
    opmode = vrep.simx_opmode_oneshot_wait
     
    vrep.simxStartSimulation(clientID, opmode)
    ret,front_handle=vrep.simxGetObjectHandle(clientID,"FrontMotor",opmode)
    ret,left_handle=vrep.simxGetObjectHandle(clientID,"LBMotor",opmode)
    ret,right_handle=vrep.simxGetObjectHandle(clientID,"RBMotor",opmode)
    ret,lfan_handle=vrep.simxGetObjectHandle(clientID,"LMotor",opmode)
    ret,rfan_handle=vrep.simxGetObjectHandle(clientID,"RMotor",opmode)
    while True:
        if keyboard.is_pressed("w"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,10,opmode)
            print("go")
            
        if keyboard.is_pressed("s"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,-10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,-10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,-10,opmode)
            print("back")
            
        if keyboard.is_pressed("a"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,0.05,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,10,opmode)
            print("left")
            
        if keyboard.is_pressed("d"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,0.05,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,0,opmode)
            print("right")
            
        if keyboard.is_pressed("w+a"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,5,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,10,opmode)
            print("turn left")
             
        if keyboard.is_pressed("w+d"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,5,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,10,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,0,opmode)   
            print("turn right")
             
             
        if keyboard.is_pressed("space"):
            vrep.simxSetJointTargetVelocity(clientID,front_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,left_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,right_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,lfan_handle,0,opmode)
            vrep.simxSetJointTargetVelocity(clientID,rfan_handle,0,opmode)
            print("stop")
             
        if keyboard.is_pressed("q"):
            vrep.simxSetJointTargetVelocity(clientID,lfan_handle,20,opmode)
            print("turn left fan")
            
        if keyboard.is_pressed("e"):
            vrep.simxSetJointTargetVelocity(clientID,rfan_handle,20,opmode)
            print("turn right fan")
             
else:
    print ('Failed connecting to  remote API server')
    print ('End')

參考資料

網頁操作api、flask使用、render_template、物件導向、def-return、task2鍵盤操作


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