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W15
1程式:
function sysCall_init()
-- do some initialization here
joint=sim.getObjectHandle('joint')
end
function sysCall_actuation()
-- put your actuation code here
sim.setJointTargetPosition(joint,30*math.pi/180)
end
2程式:
function sysCall_init()
-- do some initialization here
joint=sim.getObjectHandle('joint')
set=0
degset=10
end
function sysCall_actuation()
-- put your actuation code here
message,auxiliaryData=sim.getSimulatorMessage()
while message~=-1 do
if (message==sim.message_keypress) then
if (auxiliaryData[1]==97) then
set1=set+degset
sim.setJointTargetPosition(joint,set1*math.pi/180)
end
if (auxiliaryData[1]==100) then
set2=set-degset
sim.setJointTargetPosition(joint,set2*math.pi/180)
end
if (auxiliaryData[1]==119) then
degset=degset+10
print(degset)
end
if (auxiliaryData[1]==115) then
degset=degset-10
if(degset<1) then
degset=1
end
print(degset)
end
end
message,auxiliaryData=sim.getSimulatorMessage()
end
end
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