Simple Scala/Java binding for Coppelia Robotics V-REP simulator (remote API)
- Add the library in your project by adding the following dependency to your build file:
for SBT project:
libraryDependencies += "com.github.troxid" %% "vrepapiscala" % "0.3.6"for Gradle project:
dependencies {
compile "com.github.troxid:vrepapiscala_2.12:0.3.6"
}
for Maven project:
<dependency>
<groupId>com.github.troxid</groupId>
<artifactId>vrepapiscala_2.12</artifactId>
<version>0.3.6</version>
</dependency>
- Find the socket port number in
V-REP/remoteApiConnections.txtand use it to connect to the server simulator
In the current version is not implemented features such as remote management GUI, additional configuration properties of objects and shapes, etc. Basically implemented those components that are required to control the robot:
- Joint
- Proximity sensor
- Vision sensor
- Force sensor
- Position sensor (used for that dummy or shape object)
- Remote function calls
import vrepapiscala._
object PioneerRemoteControlExample extends App {
val api = VRepAPI.connect("127.0.0.1", 19997).get
val robot = new PioneerP3dx(api)
api.simulation.start()
for(_ <- 0 to 500){
val resLS = robot.leftSensor.read
val resRS = robot.rightSensor.read
if(resLS.detectionState && resLS.detectedPoint.length < 0.5){
robot.rotateRight()
}else if(resRS.detectionState && resRS.detectedPoint.length < 0.5){
robot.rotateLeft()
} else {
robot.moveForward()
}
Thread.sleep(10)
}
api.simulation.stop()
}
class PioneerP3dx(api: VRepAPI) {
private val speed = 2f
private val leftMotor = api.joint.withVelocityControl("Pioneer_p3dx_leftMotor").get
private val rightMotor = api.joint.withVelocityControl("Pioneer_p3dx_rightMotor").get
private val frontSensors =
for(i <- 1 to 8)
yield api.sensor.proximity("Pioneer_p3dx_ultrasonicSensor" + i).get
def moveForward(): Unit = {
leftMotor.setTargetVelocity(speed)
rightMotor.setTargetVelocity(speed)
}
def moveBackward(): Unit = {
leftMotor.setTargetVelocity(-speed)
rightMotor.setTargetVelocity(-speed)
}
def rotateLeft(): Unit = {
leftMotor.setTargetVelocity(-speed)
rightMotor.setTargetVelocity(speed)
}
def rotateRight(): Unit = {
leftMotor.setTargetVelocity(speed)
rightMotor.setTargetVelocity(-speed)
}
def stop(): Unit = {
leftMotor.setTargetVelocity(0)
rightMotor.setTargetVelocity(0)
}
def leftSensor = frontSensors(1)
def rightSensor = frontSensors(6)
}