NFU-MDE-40823108-KAO,YU-CHE-cd2021

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Stage1-ag1 << Previous Next >> Stage3-ag1

Stage2-ag1

分組專題成員：

  第一位成員：a408231112 (組長)

  第二位成員：40823108 (組員)

  第三位成員：40823109 (組員)

  第四位成員：408231045 (組員)

Website: a40823112 Stage2-ag1 Website

Website: 40823108 Stage2-ag1 Website

Website: 40823109 Stage2-ag1 Website

Website: 40823145 Stage2-ag1 Website

Reveal: a40823112 Stage2-ag1 Reveal

Reveal: 40823108 Stage2-ag1 Reveal

Reveal: 40823145 Stage2-ag1 Reveal

分組為期5週，W5~W9以下呈現內容為最後一週之成果:

第五週分組專案開始，分組以第一次分組兩兩合併為主。

組別為:stage2-ag1

本專案使用Autodesk Inventor 2021 Professional，ipt、iam檔案需使用同版本才有辦法開啟

檔案下載:

零件檔:

Lego EV3 model files

場景檔:

.ttt files

W5

分組討論完，決定Stage2的產品設計內容，為Stage1-ag1的產品進行改良，並新增其它功能:

1.利用鍵盤方向鍵操控

2.增加接近傳感器使產品自動行走時，不會撞到障礙物

本次專案沿用stage1-ag1之專案，為了讓模型能夠按照我們的意思做動，我們嘗試編寫Lua程式並以方向鍵進行控制。

下方為第一次測試程式與模擬圖

Lua程式:

threadFunction=function()
    -- put your actuation code here
 while sim.getSimulationState()~=sim.simulation_advancing_abouttostop do
    -- Read the keyboard messages (make sure the focus is on the main window, scene view):
        message,auxiliaryData=sim.getSimulatorMessage()
        while message~=-1 do
            if (message==sim.message_keypress) then
if (auxiliaryData[1]==2007) then
                -- up key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2008) then
                -- down key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2009) then
                -- left key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
            if (auxiliaryData[1]==2010) then
                -- right key
                velocity=1000
                torque=10000
                Shape4 = 1000
                Shape7 = 1000
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
    if Shape4 == 1
        then sim.setJointPosition(joint_1, 1000, orientation)
    if Shape7 == 1
        then sim.setJointPosition(joint_2, 1000, orientation)
    end
        sim.setJointTargetVelocity(joint,velocity)
    end
        joint_1=sim.getObjectHandle('joint_1')
        joint_2=sim.getObjectHandle('joint_2')
        Shape4=sim.getObjectHandle('Shape4')
        Shape7=sim.getObjectHandle('Shape7')
        velocity=0
        torque=0
        Shape4 = 0
        Shape7 = 0
end

因部分語法有誤，日後待除錯。

W6

經過一週的時間，我們將程式進行了修改，但還是有錯誤，無法讓機構以上下左右鍵的方式進行控制。

下方為模擬圖:

第二次Lua程式測試:

function sysCall_init()
    -- do some initialization here
    left_front_handle= sim.getObjectHandle('left_front')
    left_back_handle= sim.getObjectHandle('left_back')
    right_back_handle= sim.getObjectHandle('right_back')
    right_front_handle= sim.getObjectHandle('right_front')
      
    joint_1_handle= sim.getObjectHandle('joint_1')
      
    joint_2_handle= sim.getObjectHandle('joint_2')
    MaxVel=10
    leftvelocity=0
    rightvelocity=0
    dVel=0.5;
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
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]==32) then
                -- right key
                leftvelocity=0
                rightvelocity=0
                sim.setJointForce(left_front_handle, 0)
                sim.setJointForce(left_back_handle, 0)
                sim.setJointForce(right_back_handle, 0)
                sim.setJointForce(right_front_handle, 0)
                  
                  
                sim.setJointForce(joint_1_handle, 1000)
                  
                sim.setJointForce(joint_2_handle, 1000)
                break
            else
            --sim.setJointForce(left_front_handle, 10000)
            sim.setJointForce(left_back_handle, 10000)
            sim.setJointForce(right_back_handle, 10000)
            --sim.setJointForce(right_front_handle, 10000)
              
            sim.setJointForce(joint_1_handle, 0)
              
            sim.setJointForce(joint_2_handle, 0)
            end
            if (auxiliaryData[1]==2007) then
                -- up key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==2008) then
                -- down key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==2009) then
                -- left key
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==2010) then
                -- right key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
      
    if leftvelocity>MaxVel then
        leftvelocity=MaxVel
    end
    if leftvelocity<-MaxVel then
        leftvelocity=-MaxVel
    end
      
    if rightvelocity>MaxVel then
                rightvelocity=MaxVel
    end
    if rightvelocity<-MaxVel then
                rightvelocity=-MaxVel
    end
      
    --sim.setJointTargetVelocity(left_front_handle,leftvelocity)
    sim.setJointTargetVelocity(left_back_handle,leftvelocity)
    sim.setJointTargetVelocity(right_back_handle,rightvelocity)
    --sim.setJointTargetVelocity(right_front_handle,rightvelocity)
      
end
  
function sysCall_sensing()
    -- put your sensing code here
end
  
function sysCall_cleanup()
    -- do some clean-up here
end
  
-- See the user manual or the available code snippets for additional callback functions and details

第二次程式失敗，日後將持續進除錯。

W7

利用鍵盤操控物體行走

(🔽程式碼)

function sysCall_init() 
    left_handle= sim.getObjectHandle('left_m')
    right_handle= sim.getObjectHandle('right_m')
    MaxVel=2
    leftvelocity=0
    rightvelocity=0
    dVel=0.5;
    sim.setJointTargetVelocity(left_handle,leftvelocity)
    sim.setJointTargetVelocity(right_handle,rightvelocity)
end
 
function sysCall_actuation() 
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==32) then
                -- right key
                leftvelocity=0
                rightvelocity=0
                sim.setJointForce(left_front_handle, 0)
                sim.setJointForce(right_front_handle, 0)
                break
            else
                sim.setJointForce(left_handle, 10000)
                sim.setJointForce(right_handle, 10000)
            end
            if (auxiliaryData[1]==2007) then
                -- up key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==2008) then
                -- down key
                leftvelocity=(leftvelocity+rightvelocity)/2
                rightvelocity=leftvelocity
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity-dVel
            end
            if (auxiliaryData[1]==2009) then
                -- left key
                leftvelocity=leftvelocity-dVel
                rightvelocity=rightvelocity+dVel
            end
            if (auxiliaryData[1]==2010) then
                -- right key
                leftvelocity=leftvelocity+dVel
                rightvelocity=rightvelocity-dVel
            end
        end
        message,auxiliaryData=sim.getSimulatorMessage()
    end
     
    if leftvelocity>MaxVel then
        leftvelocity=MaxVel
    end
    if leftvelocity<-MaxVel then
        leftvelocity=-MaxVel
    end
     
    if rightvelocity>MaxVel then
                rightvelocity=MaxVel
    end
    if rightvelocity<-MaxVel then
                rightvelocity=-MaxVel
    end
     
    sim.setJointTargetVelocity(left_handle,leftvelocity)
    sim.setJointTargetVelocity(right_handle,rightvelocity)
     
end

W8

增加接近傳感器使產品自動行走時，不會撞到障礙物

(🔽程式碼)

function sysCall_init()
     
     
end
 
function sysCall_actuation()
     
end
 
function sysCall_sensing()
     
end
 
function sysCall_cleanup()
     
end
 
 
 
function sysCall_afterDelete(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." was deleted")
    end
     
end
 
function sysCall_afterCreate(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..value.." was created")
    end
end
--]]
function speedChange_callback(ui,id,newVal)
    speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100
end
 
function sysCall_init()
     
    bubbleRobBase=sim.getObjectAssociatedWithScript(sim.handle_self) 
    leftMotor=sim.getObjectHandle("bubbleRob_leftMotor") 
    rightMotor=sim.getObjectHandle("bubbleRob_rightMotor") 
    noseSensor=sim.getObjectHandle("bubbleRob_sensingNose") 
    minMaxSpeed={120*math.pi/180,300*math.pi/180} 
    backUntilTime=-1 
    
        xml = '<ui activate="false" closeable="false" resizeable="false" title="'..sim.getObjectName(bubbleRobBase)..' speed">'..[[
        <hslider id="1" maximum="100" minimum="0" onchange="speedChange_callback"></hslider>
        <label style="* {margin-left: 300px;" text=""></label>
        </ui>
        ]]
    ui=simUI.create(xml)
    speed=(minMaxSpeed[1]+minMaxSpeed[2])*1
    simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-minMaxSpeed[1]))
end
 
function sysCall_actuation()
    result=sim.readProximitySensor(noseSensor) 
     
    if (result>0) then backUntilTime=sim.getSimulationTime()+4 end 
 
    if (backUntilTime<sim.getSimulationTime()) then
         
        sim.setJointTargetVelocity(leftMotor,speed)
        sim.setJointTargetVelocity(rightMotor,speed)
    else
         
        sim.setJointTargetVelocity(leftMotor,-speed/5)
        sim.setJointTargetVelocity(rightMotor,-speed/200)
    end
end
 
function sysCall_cleanup()
    simUI.destroy(ui)
end

W9

程式模擬影片與PDF報告

方向鍵控制模擬


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