手臂末端加入 components-gripper-suction pad 吸盤 << Previous Next >> 逆向運動學函式
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function sysCall_init()
end

function sysCall_trigger(inData)
    -- callback function automatically added for backward compatibility
    sim.breakForceSensor(inData.handle)
end

function sysCall_init()
    joint01=sim.getObjectHandle('joint1')
    joint02=sim.getObjectHandle('joint2')
    joint03=sim.getObjectHandle('joint3')
    jointz=sim.getObjectHandle('jointz')
    sim.setJointTargetPosition(joint01,0)
    sim.setJointTargetPosition(joint02,0)
    sim.setJointTargetPosition(joint03,0)
    sim.setJointTargetPosition(jointz,0)
    deg1=0
    deg2=0
    zhing=false
    pad=false
end

function sysCall_actuation()
     message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==119) then
            deg1=deg1+1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
            deg1=deg1-1
            sim.setJointTargetPosition(joint01,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==97) then
            deg2=deg2+1
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==100) then
            deg2=deg2-1
            sim.setJointTargetPosition(joint02,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==2007) then
                sim.setJointTargetPosition(jointz,-0.55)
                sim.setIntegerSignal("pad_switch",1)
            end
            if (auxiliaryData[1]==2008) then
                sim.setJointTargetPosition(jointz,0)
                sim.setIntegerSignal("pad_switch",1)
            end
            if (auxiliaryData[1]==98) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint03,(deg2-deg1)*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end
手臂末端加入 components-gripper-suction pad 吸盤 << Previous Next >> 逆向運動學函式