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3D列印機_控制高度

控制:
上下左右控制噴頭的上下左右
空白鍵往上
C鍵往下
圖檔下載
3D print control altitude.ttt
影片參考
程式參考:
function sysCall_init()
    -- do some initialization here
    joint1=sim.getObjectHandle('P1')
    joint2=sim.getObjectHandle('P2')
    joint3=sim.getObjectHandle('P3')
    xp=0
    yp=0
    zp=0
    p1p=0
    p2p=0
    p3p=0
    dz=0
    step=0.01
    --sim.getJointTargetPosition(joint1,p1p)
    --sim.getJointTargetPosition(joint2,p2p)
    --sim.getJointTargetPosition(joint3,p3p)
    H=((0.290)^2-(0.1325)^2)^(1/2)
    BaseX=0.1325*(math.cos(60*math.pi/180))
    BaseY2=0.1325*(math.sin(60*math.pi/180))
    BaseY3=0.1325*(math.sin(60*math.pi/180))
end

xyz = function()
    bar1=(((0.290)^2-(0.1325-xp)^2-yp^2)^(1/2)-H+dz)
    bar2=(((0.290)^2-BaseX^2-BaseY2^2)^(1/2)-H+dz)
    bar3=(((0.290)^2-BaseX^2-BaseY3^2)^(1/2)-H+dz)
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]==2010) then
                xp=xp+step
                BaseX=BaseX+step
                xyz()
                sim.setJointTargetPosition(joint1,bar1)
                sim.setJointTargetPosition(joint2,bar2)
                sim.setJointTargetPosition(joint3,bar3)
            end
            if (auxiliaryData[1]==2009) then
                xp=xp-step
                BaseX=BaseX-step
                xyz()
                sim.setJointTargetPosition(joint1,bar1)
                sim.setJointTargetPosition(joint2,bar2)
                sim.setJointTargetPosition(joint3,bar3)
            end
            if (auxiliaryData[1]==2007) then
                yp=yp+step
                BaseY2=BaseY2-step
                BaseY3=BaseY3+step
                xyz()
                sim.setJointTargetPosition(joint1,bar1)
                sim.setJointTargetPosition(joint2,bar2)
                sim.setJointTargetPosition(joint3,bar3)
            end
            if (auxiliaryData[1]==2008) then
                yp=yp-step
                BaseY2=BaseY2+step
                BaseY3=BaseY3-step
                xyz()
                sim.setJointTargetPosition(joint1,bar1)
                sim.setJointTargetPosition(joint2,bar2)
                sim.setJointTargetPosition(joint3,bar3)
            end
            if (auxiliaryData[1]==32) then
                sim.getJointTargetPosition(joint1,p1p)
                sim.getJointTargetPosition(joint2,p2p)
                sim.getJointTargetPosition(joint3,p3p)
                p1p=p1p+dz
                p2p=p2p+dz
                p3p=p3p+dz
                dz=dz+step
                printf(p1p)
                xyz()
                print(p2p)
                sim.setJointTargetPosition(joint1,bar1+dz)
                sim.setJointTargetPosition(joint2,bar2+dz)
                sim.setJointTargetPosition(joint3,bar3+dz)
                H=H-dz
            end
            if (auxiliaryData[1]==99) then
                sim.getJointTargetPosition(joint1,p1p)
                sim.getJointTargetPosition(joint2,p2p)
                sim.getJointTargetPosition(joint3,p3p)
                p1p=p1p-dz
                p2p=p2p-dz
                p3p=p3p-dz
                dz=dz-step
                printf(p1p)
                xyz()
                print(p2p)
                sim.setJointTargetPosition(joint1,bar1-dz)
                sim.setJointTargetPosition(joint2,bar2-dz)
                sim.setJointTargetPosition(joint3,bar3-dz)
                H=H-dz
            end
         end
message,auxiliaryData=sim.getSimulatorMessage()
end
    
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
3D列印機_自動繪製 << Previous Next >> 衝擊試驗機