LUA代码保留.txt

function sysCall_init()
         
    -- Retrieve some handles:
    --sensorHandle=sim.getObjectAssociatedWithScript(sim.handle_self)
    sensorHandle = sim.getObjectHandle('Distance_sensor')
    motorHandles={-1,-1,-1,-1}
    
        motorHandles[1]=sim.getObjectHandle('joint_front_left_wheel')
        motorHandles[2]=sim.getObjectHandle('joint_front_right_wheel')
        motorHandles[3]=sim.getObjectHandle('joint_back_right_wheel')
        motorHandles[4]=sim.getObjectHandle('joint_back_left_wheel')
    graphHandle=sim.getObjectHandle("Graph0")
    
end

function sysCall_cleanup() 
 
end 
function sysCall_sensing() 
    -- Read the proximity sensor:
    result,distance=sim.readProximitySensor(sensorHandle)
    
    -- Add some noise (very simple here):
    if (result>0) then
    
--        distance=distance+sim.getFloatParameter(sim.floatparam_rand)*0.01
        if (distance<0) then
            distance=0
        end
        if (distance>0) then
            if (distance<0.9) then
                sim.setJointTargetVelocity(motorHandles[1],10)
                sim.setJointTargetVelocity(motorHandles[2],-1)
                sim.setJointTargetVelocity(motorHandles[3],-1)
                sim.setJointTargetVelocity(motorHandles[4],10)
            end
            if (distance>1.1) then
                sim.setJointTargetVelocity(motorHandles[1],1)
                sim.setJointTargetVelocity(motorHandles[2],-1)
                sim.setJointTargetVelocity(motorHandles[3],-1)
                sim.setJointTargetVelocity(motorHandles[4],1)
            end
        end

            
        -- Add the data to the graph:
        sim.setGraphUserData(graphHandle,"sensorWithNoise",distance)
    
    end
end