本文整理汇总了Python中vrep.simxSynchronousTrigger函数的典型用法代码示例。如果您正苦于以下问题：Python simxSynchronousTrigger函数的具体用法？Python simxSynchronousTrigger怎么用？Python simxSynchronousTrigger使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了simxSynchronousTrigger函数的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的Python代码示例。
示例1: getRange
def getRange(self):
"get motor range"
eCode, value = vrep.simxGetFloatSignal(self.robot, "HOMEO_SIGNAL_"+self._wheel+"Wheel"+"_MAX_SPEED",getattr(vrep,self._opMode))
vrep.simxSynchronousTrigger(self.robot)
if eCode != 0:
raise TransducerException("Cannot get maxSpeed of VREP motor: " + self._wheel+"Wheel")
return value
开发者ID:dtbinh，项目名称:Homeo，代码行数:7，代码来源:Transducer.py
示例2: restart
def restart(self,earlyStop = False):
if (self.cid != None):
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
time.sleep(1)
self.connect()
time.sleep(1)
vrep.simxLoadScene(self.cid, '/home/elias/[email protected]/_Winter2015/CSC494/Scenes/Base_Quad.ttt', 0, self.mode())
if earlyStop:
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
return
vrep.simxStartSimulation(self.cid, self.mode())
self.runtime = 0
err, self.copter = vrep.simxGetObjectHandle(self.cid, "Quadricopter_base",
vrep.simx_opmode_oneshot_wait)
err, self.target = vrep.simxGetObjectHandle(self.cid, "Quadricopter_target",
vrep.simx_opmode_oneshot_wait)
err, self.front_camera = vrep.simxGetObjectHandle(self.cid, 'Quadricopter_frontCamera', vrep.simx_opmode_oneshot)
err, lin, ang = vrep.simxGetObjectVelocity(self.cid, self.copter, vrep.simx_opmode_streaming)
self.getTargetStart()
for i in range(4):
self.propellerScripts[i] = vrep.simxGetObjectHandle(self.cid,
'Quadricopter_propeller_respondable' + str(i) + str(1),
self.mode())
开发者ID:Etragas，项目名称:GPSDrone，代码行数:30，代码来源:Simulation.py
示例3: cleanUp
def cleanUp(self):
print "About to stop simulation connected to self.simulID: ", self.simulID
vrep.simxStopSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
vrep.simxFinish(self.simulID)
vrep.simxFinish(-1)
print "Disconnected from V-REP"
开发者ID:dtbinh，项目名称:Homeo，代码行数:7，代码来源:ProxSensorTest.py
示例4: testMaxSpeed
def testMaxSpeed(self, maxSpeed, mode):
"""test max speed of khepera-like robot in V-Rep
revving the motors up to maxSpeed in the self.noSteps and then backward.
mode--> 1, both motors, 2: right only, 3: left only"""
if mode == 1:
rightOn = leftOn = 1
elif mode == 2:
rightOn = 1
leftOn = 0
elif mode == 3:
rightOn = 0
leftOn = 1
unitSpeed = maxSpeed /self.noSteps
for i in xrange(self.noSteps):
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.rightMotor, unitSpeed *(i+1)*rightOn, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.leftMotor, unitSpeed *(i+1)*leftOn, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
print "Step: %s\t Speed now: %.2f" %(str(i),(unitSpeed *(i+1)))
for i in xrange(self.noSteps):
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.rightMotor, -(maxSpeed/(i+1))*rightOn, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.leftMotor, -(maxSpeed/(i+1))*leftOn, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
print "Step: %s\t Speed now: %.2f" % (str(i), (maxSpeed/(i+1))*rightOn)
开发者ID:dtbinh，项目名称:Homeo，代码行数:25，代码来源:VREPDetermTest.py
示例5: __call__
def __call__(self, t, values):
self.count += 1
if self.count == int(round(self.sim_dt/self.nengo_dt)):
self.count = 0
self.handle_input( values )
if self.sync:
vrep.simxSynchronousTrigger( self.cid )
return self.handle_output()
开发者ID:bjkomer，项目名称:nengo_vrep，代码行数:8，代码来源:robots.py
示例6: act
def act(self):
'''activates the wheel motor by calling the actuator function (transdFunction) with
VREP client (stored in self.robot) and the needed parameters (stored in funcParameters)'''
# parametersString = str(self.robot) + ", " + str(self._transducID) + ", " + str(self.funcParameters) + ", " + 'vrep.'+self._opMode
eCode = self.transdFunction(self.robot, self._transducID, self.funcParameters, getattr(vrep, self._opMode))
vrep.simxSynchronousTrigger(self.robot)
if eCode != 0:
stderr.write("Motor command to VREP motor:%sWheel failed " % self._wheel)
开发者ID:dtbinh，项目名称:Homeo，代码行数:8，代码来源:Transducer.py
示例7: __init__
def __init__(self, simulatorModel=None):
self.robotOrientationFirstTime = True
self.getDistanceToGoalFirstTime = True
self.getUpDistanceFirstTime = True
self.getObjectPositionFirstTime = True
self.sysConf = LoadSystemConfiguration()
#this data structure is like a cache for the joint handles
self.jointHandleMapping = {}
robotConf = LoadRobotConfiguration()
self.model = simulatorModel
self.LucyJoints = robotConf.getJointsName()
for joint in self.LucyJoints:
self.jointHandleMapping[joint]=0
self.clientId = self.connectVREP()
RETRY_ATTEMPTS = 50
if simulatorModel:
for i in range(RETRY_ATTEMPTS):
#TODO try to reutilize the same scene for the sake of performance
error = self.loadscn(self.clientId, simulatorModel)
if not error:
break
print "retrying connection to vrep"
if error:
raise VrepException("error loading Vrep robot model", -1)
if int(self.sysConf.getProperty("synchronous mode?"))==1:
self.synchronous = True
vrep.simxSynchronousTrigger(self.clientId)
else:
self.synchronous = False
self.speedmodifier = int(self.sysConf.getProperty("speedmodifier"))
#setting the simulation time step
self.simulationTimeStepDT = float(self.sysConf.getProperty("simulation time step"))
'''#testing printing in vrep
error, consoleHandler = vrep.simxAuxiliaryConsoleOpen(self.clientId, "lucy debugging", 8, 22, None, None, None, None, vrep.simx_opmode_oneshot_wait)
print "console handler: ", consoleHandler
vrep.simxAuxiliaryConsoleShow(self.clientId, consoleHandler, 1, vrep.simx_opmode_oneshot_wait)
error = vrep.simxAuxiliaryConsolePrint(self.clientId, consoleHandler, "Hello World", vrep.simx_opmode_oneshot_wait)'''
error, self.upDistanceHandle = vrep.simxGetDistanceHandle(self.clientId, "upDistance#", vrep.simx_opmode_blocking)
error, self.distLFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceLFootGoal#", vrep.simx_opmode_blocking)
error, self.distRFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceRFootGoal#", vrep.simx_opmode_blocking)
error, self.bioloidHandle = vrep.simxGetObjectHandle(self.clientId,"Bioloid", vrep.simx_opmode_oneshot_wait)
error, self.cuboidHandle = vrep.simxGetObjectHandle(self.clientId,"Cuboid", vrep.simx_opmode_oneshot_wait)
error, self.armHandler = vrep.simxGetObjectHandle(self.clientId, "Pivot", vrep.simx_opmode_oneshot_wait)
self.populateJointHandleCache(self.clientId)
self.isRobotUpFirstCall = True
self.getDistanceToSceneGoal() #to fix the first invocation
self.getUpDistance()
self.isRobotUp(self.clientId)
self.armPositionXAxis = -9.0000e-02
开发者ID:aguirrea，项目名称:lucy，代码行数:57，代码来源:Simulator.py
示例8: stepsim
def stepsim(self, steps):
"""
Do n-steps of simulation.
:param steps: Number of steps you want to simulate
:type steps: int
"""
for i in xrange(steps):
vrep.simxSynchronousTrigger(self._clientID)
开发者ID:RL-LDV-TUM，项目名称:epuck-vrep，代码行数:9，代码来源:ePuckVRep.py
示例9: reset
def reset(self):
"""In VREP we reset a simulation by stopping and restarting it"""
eCode = vrep.simxStopSimulation(self._VREP_clientId, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not stop VREP simulation")
eCode = vrep.simxStartSimulation(self._VREP_clientId, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not start VREP simulation")
vrep.simxSynchronousTrigger(self._VREP_clientId)
开发者ID:dtbinh，项目名称:Homeo，代码行数:9，代码来源:SimulatorBackend.py
示例10: read
def read(self):
# sensingParameters = self.robot + ", " + self._VREPSignalName + ", " + 'vrep.'+self._opMode
eCode, value = self._transdFunction(self.robot, self._VREPSignalName , getattr(vrep, self._opMode))
vrep.simxSynchronousTrigger(self.robot)
if eCode != 0:
# raise Exception("Cannot read value for sensor " + self._eye+"Eye")
stderr.write("Cannot read value for sensor " + self._eye+"Eye")
return 0
return value
开发者ID:dtbinh，项目名称:Homeo，代码行数:9，代码来源:Transducer.py
示例11: sendSignalVREP
def sendSignalVREP(self,signalName, signalValue):
if type(signalValue) == str:
eCode = vrep.simxSetStringSignal(self._VREP_clientId, signalName, asByteArray(signalValue), vrep.simx_opmode_oneshot_wait)
elif type(signalValue) == int:
eCode = vrep.simxSetIntegerSignal(self._VREP_clientId, signalName, signalValue, vrep.simx_opmode_oneshot_wait)
elif type(signalValue) == float:
eCode = vrep.simxSetFloatSignal(self._VREP_clientId, signalName, signalValue, vrep.simx_opmode_oneshot_wait)
else:
raise Exception("Trying to send a signal of unknown data type. Only strings, floats and and ints are accepted")
if eCode != 0:
raise Exception("Could not send string signal", signalValue)
vrep.simxSynchronousTrigger(self._VREP_clientId)
开发者ID:dtbinh，项目名称:Homeo，代码行数:12，代码来源:SimulatorBackend.py
示例12: setJointPosition
def setJointPosition(self, clientID, joint, angle):
error = False
handle = self.jointHandleMapping[joint]
if handle == 0:
errorGetObjetHandle, handle=vrep.simxGetObjectHandle(clientID,joint,vrep.simx_opmode_oneshot_wait)
error = errorGetObjetHandle or error
self.jointHandleMapping[joint]=handle
#error = error or vrep.simxSetJointPosition(clientID,handle,angle,vrep.simx_opmode_oneshot_wait)
error = error or vrep.simxSetJointPosition(clientID,handle,angle,vrep.simx_opmode_oneshot) #using oneshot instead of oneshot_wait make it a nonblocking call but is the only way to avoid 5 seconds wait in the execution of the individual
if self.synchronous:
vrep.simxSynchronousTrigger(clientID)
return error
开发者ID:dtbinh，项目名称:lucy，代码行数:12，代码来源:Simulator.py
示例13: __call__
def __call__( self, t, values ):
""" This class will be callable within a nengo node. It will accept as input
the control signals for each rotor, and will output the relevant state
variables (position, velocity, orientation, angular velocity).
"""
self.count += 1
if self.count == int(round(sim_dt/dt)):
self.count = 0
self.handle_input( values )
if SYNC:
vrep.simxSynchronousTrigger( self.cid )
return self.handle_output()
开发者ID:Etragas，项目名称:GPSDrone，代码行数:13，代码来源:quadcopter.py
示例14: VREPConnect
def VREPConnect(self):
vrep.simxFinish(-1)
"Connect to Simulation"
self.simulID = vrep.simxStart(self.robot_host,self.simulation_port,True,True, 5000,5)
eCode = vrep.simxSynchronous(self.simulID, True)
if eCode != 0:
print "Could not get V-REP to synchronize operation with me"
if not self.simulID == -1:
eCode = vrep.simxStartSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
print "my SimulID is ", self.simulID
else:
sys.exit("Failed to connect to VREP simulation. Bailing out")
开发者ID:dtbinh，项目名称:Homeo，代码行数:14，代码来源:ProxSensorTest.py
示例15: braiten1b
def braiten1b(self):
"slowly move forward and print normal vector readings"
intens = 100
ambientIntensRatio = 0.2
attVect = [0,0,pi *4]
for step in xrange(self.noSteps):
rightInput = vrep.simxReadProximitySensor(self.simulID, self.rightEye, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.leftEye, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
centerInput = vrep.simxReadProximitySensor(self.simulID, self.KJcenterEye, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
angle = degrees(self.angleBetVecs([0,0,1], centerInput[2]))
lightReading = self.irradAtSensor(intens, ambientIntensRatio, centerInput[2], attVect)
print "Center-->err:%s - Detct'd: %s\tAngle:%.3f\tIrrad:%.3f\tNorm: %.3f\tVector:%s\t" % (centerInput[0],
centerInput[3],
angle,
lightReading,
norm(centerInput[2]),
centerInput[2])
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.rightMotor, 1/lightReading, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.leftMotor, 1/lightReading, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
sleep(0)
开发者ID:dtbinh，项目名称:Homeo，代码行数:25，代码来源:VREPDetermTest.py
示例16: moveAndReadProxSensors
def moveAndReadProxSensors(self):
"rotate in place and print sensor distance and normal vector readings"
for step in xrange(self.noSteps):
if step>self.noSteps / 2:
rightSpeed = -1
leftSpeed = -rightSpeed
else:
rightSpeed = 1
leftSpeed = -rightSpeed
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.rightMotor, rightSpeed, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.leftMotor, leftSpeed, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
rightInput = vrep.simxReadProximitySensor(self.simulID, self.rightEye, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.leftEye, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
print "Left-->err:%s - Detct'd: %s\t%s\t\tRight--> err:%s - Detct'd: %s\t\t\t%s" % (leftInput[0],
leftInput[3],
leftInput[2],
rightInput[0],
rightInput[3],
rightInput[2])
sleep(.1)
self.stopRobot(self.simulID,[self.rightMotor,self.leftMotor])
vrep.simxSynchronousTrigger(self.simulID)
开发者ID:dtbinh，项目名称:Homeo，代码行数:27，代码来源:VREPDetermTest.py
示例17: moveKJuniorReadProxSensors
def moveKJuniorReadProxSensors(self):
"slowly move forward and print normal vector readings"
rightInput = vrep.simxReadProximitySensor(self.simulID, self.KJrightEye, vrep.simx_opmode_streaming)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.KJleftEye, vrep.simx_opmode_streaming)
vrep.simxSynchronousTrigger(self.simulID)
print "Proximity sensor readings error codes: ", rightInput[0],leftInput[0]
for step in xrange(self.noSteps):
rightSpeed = 10
leftSpeed = rightSpeed
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.KJrightMotor, rightSpeed, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.KJleftMotor, leftSpeed, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
rightInput = vrep.simxReadProximitySensor(self.simulID, self.KJrightEye, vrep.simx_opmode_buffer)
vrep.simxSynchronousTrigger(self.simulID)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.KJleftEye, vrep.simx_opmode_buffer)
vrep.simxSynchronousTrigger(self.simulID)
print "Left-->err:%s - Detct'd: %s\t%s\t\t\tRight--> err:%s - Detct'd: %s\t%s" % (leftInput[0],
leftInput[3],
leftInput[4],
rightInput[0],
rightInput[3],
rightInput[4])
sleep(.2)
开发者ID:dtbinh，项目名称:Homeo，代码行数:25，代码来源:ProxSensorTest.py
示例18: connect
def connect(self):
#os.chdir(VREP_HOME)
#subprocess.call([os.path.join(VREP_HOME,'vrep.sh'), VREP_scene_file], shell = True, cwd = VREP_HOME)
"Close existing connections"
vrep.simxFinish(-1)
"Connect to Simulation"
self.simulID = vrep.simxStart(self.robot_host,self.simulation_port,True,True, 5000,5)
eCode = vrep.simxSynchronous(self.simulID, True)
if eCode != 0:
print "Could not get V-REP to synchronize operation with me"
if not self.simulID == -1:
eCode = vrep.simxStartSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
print "my SimulID is ", self.simulID
else:
sys.exit("Failed to connect to VREP simulation. Bailing out")
开发者ID:dtbinh，项目名称:Homeo，代码行数:18，代码来源:VREPDetermTest.py
示例19: __init__
def __init__(self, wheel, clientID):
"Wheel could either 'right or 'left' and nothing else"
if wheel not in ["right","left"]:
raise TransducerException("Wheel must either be right or left")
self._wheel = wheel
self.robot = clientID
self._transdFunction = vrep.simxSetJointTargetVelocity
self._opMode = 'simx_opmode_oneshot_wait'
try:
eCode, self._transducID = vrep.simxGetObjectHandle(self.robot, (self._wheel+"Wheel"), getattr(vrep,self._opMode))
vrep.simxSynchronousTrigger(self.robot)
except Exception as e:
print "Cannot connect to VREP!"
print "Error: ",e
if eCode != 0:
raise TransducerException("Cannot connect to VREP motor: " + self._wheel+"Wheel")
self._range = self.getRange()
开发者ID:dtbinh，项目名称:Homeo，代码行数:19，代码来源:Transducer.py
示例20: moveKJuniorReadProxSensors
def moveKJuniorReadProxSensors(self):
"slowly move forward and print normal vector readings"
intens = 100
ambientIntens = 0
attVect = [0,0,pi *4]
rightInput = vrep.simxReadProximitySensor(self.simulID, self.KJrightEye, vrep.simx_opmode_streaming)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.KJleftEye, vrep.simx_opmode_streaming)
centerInput = vrep.simxReadProximitySensor(self.simulID, self.KJcenterEye, vrep.simx_opmode_streaming)
vrep.simxSynchronousTrigger(self.simulID)
print "Proximity sensor readings error codes: ", rightInput[0],leftInput[0]
for step in xrange(self.noSteps):
rightSpeed = 10
leftSpeed = rightSpeed
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.KJrightMotor, rightSpeed, vrep.simx_opmode_oneshot_wait)
eCode = vrep.simxSetJointTargetVelocity(self.simulID, self.KJleftMotor, leftSpeed, vrep.simx_opmode_oneshot_wait)
vrep.simxSynchronousTrigger(self.simulID)
rightInput = vrep.simxReadProximitySensor(self.simulID, self.KJrightEye, vrep.simx_opmode_buffer)
vrep.simxSynchronousTrigger(self.simulID)
leftInput = vrep.simxReadProximitySensor(self.simulID, self.KJleftEye, vrep.simx_opmode_buffer)
vrep.simxSynchronousTrigger(self.simulID)
centerInput = vrep.simxReadProximitySensor(self.simulID, self.KJcenterEye, vrep.simx_opmode_buffer)
vrep.simxSynchronousTrigger(self.simulID)
#===================================================================
# print "Left-->err:%s - Detct'd: %s\t%s\t\t\tRight--> err:%s - Detct'd: %s\t%s" % (leftInput[0],
# leftInput[3],
# leftInput[4],
# rightInput[0],
# rightInput[3],
# rightInput[4])
#===================================================================
angle = degrees(self.angleBetVecs([0,0,1], centerInput[2]))
lightReading = self.irradAtSensor(intens, ambientIntens, centerInput[2], attVect)
print "Center-->err:%s - Detct'd: %s\tAngle:%.3f\tIrrad:%.3f\tNorm: %.3f\tVector:%s\t" % (centerInput[0],
centerInput[3],
angle,
lightReading,
norm(centerInput[2]),
centerInput[2])
sleep(0)
开发者ID:dtbinh，项目名称:Homeo，代码行数:42，代码来源:VREPVectorTests.py
注：本文中的vrep.simxSynchronousTrigger函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。 |
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