Vrep 仿生獸，使用proximity sensor控制joint

用超音波感測器並編寫Scripts內部程式控制仿生獸配合道路轉彎、直走等等..

Proximity sensor

新增Proximity sensor，這次我參考Vrep內建範本"pioneer p3dx.ttm"，學習並用來控制仿身獸joint的變數

首先，我建立8個sensor並配置個方向。

Sensor的形狀可以在內部修改，可以為圓錐形、梯形，這次我用扇形來做

因為感測器必須要感測到物體，所以模型設定裡有Detectable必須要勾起來，但仿身獸本身不需要被感測，則不設定。

點選Scripts，並設定

程式

if (sim_call_type==sim_childscriptcall_initialization) then
    usensors={-1,-1,-1}
    for i=1,8,1 do
        usensors[i]=simGetObjectHandle("Proximity"..i)
    end
    motorLeft=simGetObjectHandle("left_input")
    motorRight=simGetObjectHandle("right_input")
    noDetectionDist=2
    maxDetectionDist=0.5
    detect={0,0,0}
    braitenbergL={-0.2,-0.4,-0.6,-0.8,-1,-1.2,-1.4,-1.6}
    braitenbergR={-1.6,-1.4,-1.2,-1,-0.8,-0.6,-0.4,-0.2}
    v0=2.0
end

if (sim_call_type==sim_childscriptcall_actuation) then
    for i=1,8,1 do
        res,dist=simReadProximitySensor(usensors[i])
        if (res > 0) and (dist < noDetectionDist) then
            if (dist < maxDetectionDist) then
                dist=maxDetectionDist
            end
            detect[i]=1-((dist-maxDetectionDist)/(noDetectionDist-maxDetectionDist))
        else
            detect[i]=0
        end
    end
 
    vLeft=v0
    vRight=v0
 
    for i=1,8,1 do
        vLeft=vLeft+braitenbergL[i]*detect[i]
        vRight=vRight+braitenbergR[i]*detect[i]
    end
 
    simSetJointTargetVelocity(motorLeft,vLeft)
    simSetJointTargetVelocity(motorRight,vRight)
end

if (sim_call_type==sim_childscriptcall_sensing) then
 
    -- Put your main SENSING code here
 
end
 
if (sim_call_type==sim_childscriptcall_cleanup) then
 
    -- Put some restoration code here
 
end