[游戏开发]V-rep Hexapod tutorial（3）-- Matlab简单控制

V-rep Hexapod tutorial（3）-- Matlab简单控制

1.Matlab联合仿真环境搭建
(1)设置Matlab端

• 找到安装CoppeliaSim的位置
  我的位置如下：
  C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApiBindings\matlab\matlab

• 把里面的全部文件拷贝到文件夹1

• 把reomteApi.dll导入到文件夹1
  reomteApi.dll文件在v-rep的安装目录下（C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApiBindings\lib\lib\Windows）

• 把之前搭建好的Hexapod文件复制到文件夹1
  下图中重命名为testOneLeg
  
  (2)设置仿真文件端
  在hexa_body的脚本文件中添加一句话用以跟matlab通讯
  2.Matlab代码
  简单控制Hexapod的一条腿运动

disp('Program started');
vrep=remApi('remoteApi'); 
vrep.simxFinish(-1);
clientID=vrep.simxStart('127.0.0.1',19999,true,true,5000,5);
disp(clientID);
if (clientID>-1)
    disp('Connected to remote API server');
    vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot); %开启仿真
    %-------------------------------声明节点，初始化对象----------------------------------
    [rec ,antBase] =vrep.simxGetObjectHandle (clientID,'hexa_legBase',vrep.simx_opmode_blocking);
    [rec ,rb_rot_3]=vrep.simxGetObjectHandle (clientID,'rb_rot_3',vrep.simx_opmode_blocking);

    [rec ,legTips1]=vrep.simxGetObjectHandle(clientID,'hexa_footTip0',vrep.simx_opmode_blocking);
    [rec ,legTips2]=vrep.simxGetObjectHandle(clientID,'hexa_footTip1',vrep.simx_opmode_blocking);
    [rec ,legTips3]=vrep.simxGetObjectHandle(clientID,'hexa_footTip2',vrep.simx_opmode_blocking);
    [rec ,legTips4]=vrep.simxGetObjectHandle(clientID,'hexa_footTip3',vrep.simx_opmode_blocking);
    [rec ,legTips5]=vrep.simxGetObjectHandle(clientID,'hexa_footTip4',vrep.simx_opmode_blocking);
    [rec ,legTips6]=vrep.simxGetObjectHandle(clientID,'hexa_footTip5',vrep.simx_opmode_blocking);
    
    [rec ,legTargets1]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget0',vrep.simx_opmode_blocking);
    [rec ,legTargets2]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget1',vrep.simx_opmode_blocking);
    [rec ,legTargets3]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget2',vrep.simx_opmode_blocking);
    [rec ,legTargets4]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget3',vrep.simx_opmode_blocking);
    [rec ,legTargets5]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget4',vrep.simx_opmode_blocking);
    [rec ,legTargets6]=vrep.simxGetObjectHandle(clientID,'hexa_footTarget5',vrep.simx_opmode_blocking);
    
    [rec ,initialPos1]=vrep.simxGetObjectPosition(clientID,legTips1,antBase,vrep.simx_opmode_blocking);
    [rec ,initialPos2]=vrep.simxGetObjectPosition(clientID,legTips2,antBase,vrep.simx_opmode_blocking);
    [rec ,initialPos3]=vrep.simxGetObjectPosition(clientID,legTips3,antBase,vrep.simx_opmode_blocking);
    [rec ,initialPos4]=vrep.simxGetObjectPosition(clientID,legTips4,antBase,vrep.simx_opmode_blocking);
    [rec ,initialPos5]=vrep.simxGetObjectPosition(clientID,legTips5,antBase,vrep.simx_opmode_blocking);
    [rec ,initialPos6]=vrep.simxGetObjectPosition(clientID,legTips6,antBase,vrep.simx_opmode_blocking);
    
    legMovementIndex={1,4,2,6,3,5};
    stepVelocity=0.5;
    stepAmplitude=0.16;
    stepHeight=0.04;
    movementDirection=0*pi/180;
    rotation=0;
    movementStrength=1;
    stepProgression=0;    
    realMovementStrength=0;
    k = 0;
 
    %--------------------------------实际控制----------------------------------
    %注意：！！！！这里位置的表示要用中括号
    while 1
        if k < 20
            p=[0.2039999961853,-7.4505805969238e-09,6.2592327594757e-05];
            vrep.simxSetObjectPosition(clientID,legTargets1,antBase,p,vrep.simx_opmode_oneshot);
        elseif k < 30
            p=[0.25250998136207,-7.4505805969238e-09,0.0024225975695262];
            vrep.simxSetObjectPosition(clientID,legTargets1,antBase,p,vrep.simx_opmode_oneshot);
        else
            p=[0.20795997916936,-7.4505805969238e-09,0.018622598092557];
            vrep.simxSetObjectPosition(clientID,legTargets1,antBase,p,vrep.simx_opmode_oneshot);
            k = 0;
        end  
        k=k+1;
        pause(0.01)
       
    end
end

3.运行结果