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。
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