#Imporditakse?teeigd:
import?vrep??????????????????#V-rep‘s?library
import?sys
import?time
??????
vrep.simxFinish（-1）?#It?is?closing?all?open?connections?with?VREP
clientID=vrep.simxStart（‘127.0.0.1‘19997TrueTrue50005）
if?clientID!=-1:??#It?is?checking?if?connection?is?successful
????print?‘Connected?to?remote?API?server‘???
else:
????print?‘Connection?not?successful‘
????sys.exit（‘Could?not?connect‘）

#Getting?motor?handles
errorCodeleft_motor_handle=vrep.simxGetobjectHandle（clientID“left_joint“vrep.simx_opmode_oneshot_wait）
errorCoderight_motor_handle=vrep.simxGetobjectHandle（clientID“right_joint“vrep.simx_opmode_oneshot_wait）
sensor_h=[]?#handles?list
sensor_val=[]?#Sensor?value?list

#Getting?sensor?handles?list
for?x?in?range（06）:
????????errorCodesensor_handle=vrep.simxGetobjectHandle（clientID‘line_sensor‘+str（x）vrep.simx_opmode_oneshot_wait）
????????sensor_h.append（sensor_handle）?#It?is?adding?sensor?handle?values
????????errorCodedetectionstate?sensorreadingvalue=vrep.simxReadVisionSensor（clientIDsensor_h[x]vrep.simx_opmode_streaming）
????????sensor_val.append（1.0）?#It?is?adding?1.0?to?fill?the?sensor?values?on?the?list.?In?the?while?loop?it?is?going?to?overwrite?the?values
time.sleep（1）
t?=?time.time（）?#It?is?saving?the?time?which?is?now
while?（1）:??#Cycle?which?doesn‘t?end
????#It?is?writing?down?sensor?handles?and?reading?values
????summa?=?0??#It?is?zeroing?the??sum?
????andur?=?0	#and?the?sensor?values?
????for?x?in?range（06）:
????????errorCodedetectionstate?sensorreadingvalue=vrep.simxReadVisionSensor（clientIDsensor_h[x]vrep.simx_opmode_buffer）
????????#Reading?sensor?values
????????sensor_val[x]=sensorreadingvalue[1][0]?#It?is?overwriting?the?sensor?values
????????print?“Positsiooni?v??rtus?kokku45?:“sensor_val[x]?x
????if?sensor_val[2]<=0.2?or?sensor_val[3]<=0.2:
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDleft_motor_handle10?vrep.simx_opmode_streaming）
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDright_motor_handle10?vrep.simx_opmode_streaming）
????if?sensor_val[1]<=0.2:?
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDleft_motor_handle13?vrep.simx_opmode_streaming）
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDright_motor_handle10?vrep.simx_opmode_streaming）
????if?sensor_val[0]<=0.2:?
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDleft_motor_handle16?vrep.simx_opmode_streaming）
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDright_motor_handle10?vrep.simx_opmode_streaming）??
????if?sensor_val[4]<=0.2:?
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDleft_motor_handle10?vrep.simx_opmode_streaming）
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDright_motor_handle13?vrep.simx_opmode_streaming）???
????if?sensor_val[5]<=0.2:?
????????errorCode=vrep.simxSetJointTargetVelocity（clientIDleft_motor_handle10?vrep.simx_opmode_streaming）
????????erro

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-09-19?20:51??linefollower\
?????文件?????9959709??2018-09-19?19:52??linefollower\line?follow?car.mp4
?????文件????????3295??2018-09-19?19:50??linefollower\line?follow?car.py
?????文件???????67072??2016-11-16?11:34??linefollower\remoteApi.dll
?????文件??????321735??2018-09-19?20:50??linefollower\scene.ttt
?????文件???????70365??2017-04-05?21:36??linefollower\vrep.py
?????文件???????57480??2018-09-06?09:45??linefollower\vrep.pyc
?????文件???????45014??2017-04-05?21:36??linefollower\vrepConst.py
?????文件???????27588??2018-09-19?15:33??linefollower\vrepConst.pyc