import
sim as vrep
import
math
import
random
import
time
import
keyboard
print
(
'Start'
)
vrep.simxFinish(
-
1
)
clientID
=
vrep.simxStart(
'192.168.43.111'
,
19997
,
True
,
True
,
5000
,
5
)
if
clientID !
=
-
1
:
print
(
'Connected to remote API server'
)
res
=
vrep.simxAddStatusbarMessage(
clientID,
"40823202"
,
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,shaft1
=
vrep.simxGetObjectHandle(clientID,
"shaft1"
,opmode)
ret,shaft2
=
vrep.simxGetObjectHandle(clientID,
"shaft2"
,opmode)
ret,shaft3
=
vrep.simxGetObjectHandle(clientID,
"shaft3"
,opmode)
while
True
:
if
keyboard.is_pressed(
"w"
):
vrep.simxSetJointTargetVelocity(clientID,shaft1,
2
,opmode)
print
(
"w"
)
if
keyboard.is_pressed(
"s"
):
vrep.simxSetJointTargetVelocity(clientID,shaft1,
0
,opmode)
print
(
"s"
)
if
keyboard.is_pressed(
"a"
):
vrep.simxSetJointTargetVelocity(clientID,shaft2,
2
,opmode)
print
(
"a"
)
if
keyboard.is_pressed(
"b"
):
vrep.simxSetJointTargetVelocity(clientID,shaft2,
0
,opmode)
print
(
"b"
)
if
keyboard.is_pressed(
"c"
):
vrep.simxSetJointTargetVelocity(clientID,shaft3,
0.1
,opmode)
print
(
"c"
)
if
keyboard.is_pressed(
"z"
):
vrep.simxSetJointTargetVelocity(clientID,shaft3,
0
,opmode)
print
(
"z"
)
else
:
print
(
'Failed connecting to remote API server'
)
print
(
'End'
)