Python to lua & 電腦對打

改寫code=python to lua並簡化
優點:
python : 可執行運算值較大的編譯
lua : Vrep內部沿用 , 延遲現象較少
缺點:
python : 會有爆ping問題導致延遲
lua : 太多運算時直接停止

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function sysCall_init()     KickBallV = 10     R_KickBallVel = (math.pi/180)*KickBallV     B_KickBallVel = -(math.pi/180)*KickBallV     Sphere_handle=sim.getObjectHandle('Sphere')     BRod_handle=sim.getObjectHandle('BRod')     BRev_handle=sim.getObjectHandle('BRev')     BMo_handle=sim.getObjectHandle('BMo')     --     RRod_handle=sim.getObjectHandle('RRod')     RRev_handle=sim.getObjectHandle('RRev')     RMo_handle=sim.getObjectHandle('RMo') end function sysCall_actuation()     position_BR=sim.getObjectPosition(BRod_handle,-1)     position_S=sim.getObjectPosition(Sphere_handle,-1)     X =position_S[1] - position_BR[1]     Y =position_S[2] - position_BR[2]     if 1 then         if X <= 0.02 and Y <= 0 then             sim.setJointTargetVelocity(BRev_handle,B_KickBallVel)             sim.setJointTargetVelocity(BRev_handle,-1)         elseif X > 0.02 and Y <= 0 then             sim.setJointTargetVelocity(BRev_handle,B_KickBallVel)             sim.setJointTargetVelocity(BRev_handle,1)         elseif X <= 0.02 and Y > 0 then                        sim.setJointTargetVelocity(BRev_handle,R_KickBallVel)             sim.setJointTargetVelocity(BRev_handle,-1)                elseif X > 0.02 and Y > 0 then                        sim.setJointTargetVelocity(BRev_handle,R_KickBallVel)                sim.setJointTargetVelocity(BRev_handle,1)         end         YYYYY = Y*5         sim.setJointTargetVelocity(BMo_handle,YYYYY)     end ---     position_RR=sim.getObjectPosition(RRod_handle,-1)     X =position_S[1] - position_RR[1]     Y =position_S[2] - position_RR[2]     if 1 then         if X <= 0.02 and Y <= 0 then             sim.setJointTargetVelocity(RRev_handle,B_KickBallVel)             sim.setJointTargetVelocity(RRev_handle,-1)         elseif X > 0.02 and Y <= 0 then             sim.setJointTargetVelocity(RRev_handle,B_KickBallVel)             sim.setJointTargetVelocity(RRev_handle,1)         elseif X <= 0.02 and Y > 0 then                        sim.setJointTargetVelocity(RRev_handle,R_KickBallVel)             sim.setJointTargetVelocity(RRev_handle,-1)                elseif X > 0.02 and Y > 0 then                        sim.setJointTargetVelocity(RRev_handle,R_KickBallVel)                sim.setJointTargetVelocity(RRev_handle,1)         end         YYYYY = Y*5         sim.setJointTargetVelocity(RMo_handle,YYYYY)     end end --by 40623130--

ttt檔
原本要編寫切換鍵但於vrep中用io.clock等時間等待輸入雙命令時會出現運算值過大導致停止問題 , 所以先寫電腦打擊與跟蹤球

原python code出處(by 40623128):https://mdekmol.github.io/cd2019a-task1-2019cda_t1_g3_1/content/%E6%89%8B%E8%B6%B3%E7%90%83%E6%89%8B%E6%8E%A7%E8%88%87%E9%9B%BB%E8%85%A6%E5%B0%8D%E6%89%93.html