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  • Trabajo Semana 5

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    Braulio Arévalo
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    This document contains code for initializing a simulation, actuating objects in the simulation, and sensing objects. It initializes a conveyor belt, proximity sensor, and boolean variable. It spawns new cubes every 20 seconds until 16 cubes exist. The conveyor belt speed is set to 0 if an object is detected, otherwise it is set to 0.07. The proximity sensor is read each cycle to update if an object is detected.

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    This document contains code for initializing a simulation, actuating objects in the simulation, and sensing objects. It initializes a conveyor belt, proximity sensor, and boolean variable. It spawns new cubes every 20 seconds until 16 cubes exist. The conveyor belt speed is set to 0 if an object is detected, otherwise it is set to 0.07. The proximity sensor is read each cycle to update if an object is detected.

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    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    14 views1 page

    Trabajo Semana 5

    Uploaded by

    Braulio Arévalo
    This document contains code for initializing a simulation, actuating objects in the simulation, and sensing objects. It initializes a conveyor belt, proximity sensor, and boolean variable. It spawns new cubes every 20 seconds until 16 cubes exist. The conveyor belt speed is set to 0 if an object is detected, otherwise it is set to 0.07. The proximity sensor is read each cycle to update if an object is detected.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    of 1

    function sysCall_init()

    -- do some initialization here


    cinta = sim.getObject(".")
    sensor = sim.getObject("/Proximity_sensor")
    detecta = false
    tiempoanterior=sim.getSimulationTime()
    tiempoactual=tiempoanterior
    cubo=sim.createPrimitiveShape(sim.primitiveshape_cuboid,{0.1,0.1,0.05})
    sim.setObjectPosition(cubo,sim.handle_world,{-0.7250,-0.1250,0.9700})
    sim.setObjectInt32Param(cubo,sim.shapeintparam_static,0)
    sim.setObjectInt32Param(cubo,sim.shapeintparam_respondable,1)
    cantidadProductos=1
    end

    function sysCall_actuation()
    -- put your actuation code here
    tiempoactual=sim.getSimulationTime()
    if (((tiempoactual-tiempoanterior)>= 20) and (cantidadProductos<16)) then
    cubo=sim.createPrimitiveShape(sim.primitiveshape_cuboid,{0.1,0.1,0.05})
    sim.setObjectPosition(cubo,sim.handle_world,{-0.7250,-0.1250,1})
    sim.setObjectInt32Param(cubo,sim.shapeintparam_static,0)
    sim.setObjectInt32Param(cubo,sim.shapeintparam_respondable,1)
    cantidadProductos=cantidadProductos+1
    tiempoanterior=tiempoactual
    end
    if detecta == true then
    sim.writeCustomTableData(cinta,'__ctrl__',{vel=0})
    else
    sim.writeCustomTableData(cinta,'__ctrl__',{vel=0.07})
    end
    end

    function sysCall_sensing()
    -- put your sensing code here
    if sim.readProximitySensor(sensor) == 1 then
    detecta = true
    else
    detecta = false
    end
    end

    function sysCall_cleanup()
    -- do some clean-up here

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