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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