W15

MTB Robot 練習
KEY	功能
D	下降
U	上升
L	向左
R	向右
Q	放掉
P	令變數值變true
C	顯示座標
Note：
Dummy1 為黏膠
suction Pad 為吸盤，模組可由 components>grippers 中拉出
坐標系從介面中的other中拉出
leo 中的 actuation 為按鈕設定及鍵盤作動
-- 為單行註解
-- [[　 ]]-- 為多行註解
mtbrobot_w15.lua範例內容:
function sysCall_init() 
    axis1=sim.getObjectHandle('MTB_axis1')
    axis2=sim.getObjectHandle('MTB_axis2')
    axis3=sim.getObjectHandle('MTB_axis3')
    axis4=sim.getObjectHandle('MTB_axis4')
    mtb3=sim.getObjectHandle('MTB_link3Respondable')
    suctionPad=sim.getObjectHandle('suctionPad')
    BaseFrame=sim.getObjectHandle("BaseFrame")
    block =sim.getObjectHandle("block")
    rotation1 = 0
    distance3 = 0
    deg = math.pi/180
end
function sysCall_actuation() 
    -- 吸盤往下降時, 直接貼在方塊頂部的校正值, 單位 m
    -- 向下較正值為 4.2 mm
    calibration = 0.0042
    message, auxiliaryData=sim.getSimulatorMessage()
        while message ~= -1 do
            key=auxiliaryData[1]
            sim.addStatusbarMessage('使用者按下 key:'..key)
            if (message==sim.message_keypress) then
                if (auxiliaryData[1]==112) then --p activate the suction pad
                    -- if key p pressed activate the suction mode
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','true')
                end -- if p
                if (auxiliaryData[1]==113) then --q deactivate the suction pad
                    -- if key q pressed deactivate the suction mode
sim.setScriptSimulationParameter(sim.getScriptAssociatedWithObject(suctionPad),'active','false')
                end -- if q
                if (auxiliaryData[1]==114) then --r right turn in degree
                    -- if key r pressed axis1 angle adds 5 degrees
                     rotation1 = rotation1 + 5*deg
                     sim.setJointPosition(axis1, rotation1)
                end -- if r
                if (auxiliaryData[1]==108) then --l left turn in degree
                    -- if key l pressed axis1 angle substract 5 degrees
                     rotation1 = rotation1 - 5*deg
                     sim.setJointPosition(axis1, rotation1)
                end -- if l
                if (auxiliaryData[1]==100) then --d suction pad down
                    -- if key d pressed axis3 will down 0.01 m plus calibration
                     distance3 = distance3 + 0.01 + calibration
                     sim.setJointPosition(axis3, distance3)
                end -- if d
                if (auxiliaryData[1]==117) then --u suction pad up
                    -- if key u pressed axis3 will up 0.01 m minus calibration
                    -- 吸盤往下升 1 公分加上校正值
                     distance3 = distance3 - 0.01 - calibration
                     sim.setJointPosition(axis3, distance3)
                end -- if u
                if (auxiliaryData[1]==99) then --c coordinate of block
                    blockPosition = sim.getObjectPosition(block, BaseFrame)
                    sim.addStatusbarMessage("方塊目前座標為:"..table_to_string(blockPosition))
                end --if c
           end  -- if
    message, auxiliaryData=sim.getSimulatorMessage()
        end -- while
end -- function

function sysCall_init()
    joint1=sim.getObjectHandle('joint1')
    joint2=sim.getObjectHandle('joint2')
    joint3=sim.getObjectHandle('joint3')
    jointz=sim.getObjectHandle('jointZ')
    sim.setJointTargetPosition(joint1,0)
    sim.setJointTargetPosition(joint2,0)
    sim.setJointTargetPosition(joint3,0)
    sim.setJointTargetPosition(jointz,0)
    deg1=0
    deg2=0
    deg3=0
end

function sysCall_actuation()
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==2009) then
            deg1=deg1+1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==2010) then
            deg1=deg1-1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==2007) then
            deg2=deg2+1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==2008) then
            deg2=deg2-1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
                sim.setJointTargetPosition(jointz,-0.018)
                sim.setIntegerSignal("pad_switch",1)
            end
            if(auxiliaryData[1]==119) then
                sim.setJointTargetPosition(jointz,0)
            end
            if(auxiliaryData[1]==32) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint3,deg3*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

function sysCall_init()
    joint1=sim.getObjectHandle('joint1')
    joint2=sim.getObjectHandle('joint2')    
    joint3=sim.getObjectHandle('joint3')
    jointz=sim.getObjectHandle('jointZ')
    sim.setJointTargetPosition(joint1,0)
    sim.setJointTargetPosition(joint2,0)
    sim.setJointTargetPosition(joint3,0)
    sim.setJointTargetPosition(jointz,0)
    deg1=0
    deg2=0
    deg3=0
end

function sysCall_actuation()
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==100) then
            deg1=deg1+1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==97) then
            deg1=deg1-1
            deg3=deg2-deg1
            sim.setJointTargetPosition(joint1,deg1*math.pi/180)
            end
            if (auxiliaryData[1]==119) then
            deg2=deg2+1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==115) then
            deg2=deg2-1
            deg3=deg1-deg2
            sim.setJointTargetPosition(joint2,deg2*math.pi/180)
            end
            if (auxiliaryData[1]==2008) then
                sim.setJointTargetPosition(jointz,-0.018)
                sim.setIntegerSignal("pad_switch",1)
            end
            if(auxiliaryData[1]==2007) then
                sim.setJointTargetPosition(jointz,0)
            end
            if(auxiliaryData[1]==32) then
                sim.setIntegerSignal("pad_switch",0)
            end
            sim.setJointTargetPosition(joint3,deg3*math.pi/180)
        end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

function sysCall_sensing() 
--[[
    -- Read Proximity sensor (0= nothing detected, 1 = object detected)
    local res = sim.readProximitySensor(proximity)

    -- Check if possible to insert an new box
    if (sim.getSimulationTime()-T_last_inserted > T_insert) and not hasStopped then
        insertBox()
    end

    -- If proximity sensor detects an object, stop the belt, stop inserting objects
    if res == 1 and not hasStopped then
        if boolList[1] then
            sim.setScriptSimulationParameter(sim.handle_self,"conveyorBeltVelocity",0)
            deltaTime = sim.getSimulationTime()-T_last_inserted
            hasStopped = true
        else
            local box = table.remove(boxList,1)
            local boxDummy = table.remove(boxDummyList,1)
            table.remove(boolList,1)

            sim.removeObject(box)
            sim.removeObject(boxDummy)
        end
    end

    -- If proximity sensor detects nothing and belt has stopped, start belt, continue inserting
    if res == 0 and hasStopped then
        sim.setScriptSimulationParameter(sim.handle_self,"conveyorBeltVelocity",beltSpeed)
        hasStopped = false
        T_last_inserted = sim.getSimulationTime()-deltaTime
    end
    
]]--
end
function sysCall_cleanup() 
end 
-- Convert a lua table into a lua syntactically correct string
function table_to_string(tbl)
    local result = "{"
    for k, v in pairs(tbl) do
        -- Check the key type (ignore any numerical keys - assume its an array)
        if type(k) == "string" then
            result = result.."[\""..k.."\"]".."="
        end

        -- Check the value type
        if type(v) == "table" then
            result = result..table_to_string(v)
        elseif type(v) == "boolean" then
            result = result..tostring(v)
        else
            v = round(v, 4)
            result = result.."\""..v.."\""
        end
        result = result..","
    end
    -- Remove leading commas from the result
    if result ~= "" then
        result = result:sub(1, result:len()-1)
    end
    return result.."}"
end
function round(x, n)
    n = math.pow(10, n or 0)
    x = x * n
    if x >= 0 then x = math.floor(x + 0.5) else x = math.ceil(x - 0.5) end
    return x / n
end


function insertBox()
    -- Generate random numbers
    local rand1 = math.random()
    local rand2 = math.random()
    local rand3 = math.random()
    -- Generate random disturbances on position and orientation
    local dx = (2*rand1-1)*0.1
    local dy = (2*rand2-1)*0.1
    local dphi = (2*rand3-1)*0.5
    local disturbedCoordinates = {0,0,0}
    disturbedCoordinates[1] = insertCoordinate[1]+dx
    disturbedCoordinates[2] = insertCoordinate[2]+dy
    disturbedCoordinates[3] = insertCoordinate[3]
    -- Copy and paste box and boxDummy
    local insertedObjects = sim.copyPasteObjects({box,boxDummy},0)
    -- Update last inserted box time
    T_last_inserted = sim.getSimulationTime()
    -- Move and rotate
    sim.setObjectPosition(insertedObjects[1],-1,disturbedCoordinates)
    sim.setObjectOrientation(insertedObjects[1],-1,{0,0,dphi})
    -- Store handles to boxes and dummies
    table.insert(boxList,insertedObjects[1])
    table.insert(boxDummyList,insertedObjects[2]) 
    -- Decide if object is good or bad
    local decision = math.random() 
    if decision <= goodPercentage then
    -- Object is good, assign goodColor
        sim.setShapeColor(insertedObjects[1],nil,sim.colorcomponent_ambient_diffuse,goodColor)
        table.insert(boolList,true)
    else
    -- Object is bad, assign random color
        sim.setShapeColor(insertedObjects[1],nil,sim.colorcomponent_ambient_diffuse,{rand1,rand2,rand3})
        table.insert(boolList,false)
    end
end
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