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    Simple Code To Control Pioneer P3-Dx With Matlab & Coppeliasim (Old V-Rep)

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    an danh tran
    This document provides steps to control a Pioneer p3-DX robot in CoppeliaSim using MATLAB. It involves setting up the integration files to connect CoppeliaSim and MATLAB, creating a scene with the robot and sensors, and writing scripts to get object handles and control the robot motors and read sensors. Example code is provided to control the robot's movement using different numbers of proximity sensors and turning methods.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Simple Code To Control Pioneer P3-Dx With Matlab & Coppeliasim (Old V-Rep)

    Uploaded by

    an danh tran
    11 views3 pages
    This document provides steps to control a Pioneer p3-DX robot in CoppeliaSim using MATLAB. It involves setting up the integration files to connect CoppeliaSim and MATLAB, creating a scene with the robot and sensors, and writing scripts to get object handles and control the robot motors and read sensors. Example code is provided to control the robot's movement using different numbers of proximity sensors and turning methods.

    Original Title

    Simple_Code_to_Control_Pioneer_p3

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    This document provides steps to control a Pioneer p3-DX robot in CoppeliaSim using MATLAB. It involves setting up the integration files to connect CoppeliaSim and MATLAB, creating a scene with the robot and sensors, and writing scripts to get object handles and control the robot motors and read sensors. Example code is provided to control the robot's movement using different numbers of proximity sensors and turning methods.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    11 views3 pages

    Simple Code To Control Pioneer P3-Dx With Matlab & Coppeliasim (Old V-Rep)

    Uploaded by

    an danh tran
    This document provides steps to control a Pioneer p3-DX robot in CoppeliaSim using MATLAB. It involves setting up the integration files to connect CoppeliaSim and MATLAB, creating a scene with the robot and sensors, and writing scripts to get object handles and control the robot motors and read sensors. Example code is provided to control the robot's movement using different numbers of proximity sensors and turning methods.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 3

    Simple Code to Control Pioneer p3-DX with

    MATLAB & CoppeliaSim (Old V-Rep)

    o Step 0: Create New Project File


    o Step 1: Add Integration Files for Connect CoppeliaSim to
    MATLAB
    - Go To CoppeliaSim Installation Path: for Example:
    C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu
    - Go to “Programming” Folder
    - Go to “remoteApiBindings” Folder
    - If We Use MATLAB To Control Then Go to “matlab”
    Folder and Again Open “matlab” Folder
    - Copy 3 Files:
     remApi,m
     remoteApiProto.m
     simpleTest.m
    - Paste Them to your Project Folder
    - Go Back to “remoteApiBindings” Folder And Go to “lib”
    and Again “lib”
    - If We Use Windows Go to “Windows” and Copy
    “remoteApi.dll” to your Project Folder
    o Step 2: Open CoppeliaSim & MATLAB
    o Step 3: In CoppeliaSim Create New Scene
    o Step 4: Add Pioneer p3-DX Robots to the World
    o Step 5: Add a Cuboid to the World
    o Step 6: Create a Perspective Vision Sensor and Set
    Directions
    o Step 7: Create Script File
    - In Scene hierarchy Right Click to Cuboid Go to “Add”
    Next “Associated child script” Click “Non threaded”
    - Write simRemoteApi.start(19999) into
    function sysCall_init()
    -- do some initialization here
    end
    o Step 8: Save Scene
    o Step 9: Open MATLAB
    o Step 10: Add your Project Folder in MATLAB Directory
    o Step 11: Connection Test
    - Open “simpleTest.m” and Click Run and Go to
    CoppeliaSim Software
    - If you See Mouse Position in Matlab Command Window
    Mean Connection is Done
    o Step 12: Back to MATLAB and Create a new Script
    o Step 13: Write Some Necessary Code
    - Write :
    sim=remApi('remoteApi');
    sim.simxFinish(-1);
    clientID=sim.simxStart('127.0.0.1',19999,true,true,5000,
    5);
    if (clientID>-1)
    disp('connected')
    end
    sim.delete();
    o Step 14 Lets Write Code
    - Get Object Handle (Command for Access to Object)
    Go to Website Blew and you Can See All Function
    Code:
    “https://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsMatlab.htm”
     Motors
     Set Joint Target Velocity (for Motors)
     Sensors
     Read Proximity Sensor (for Sensors)
    - Let’s Exam Two Control Code
     Pioneer1
     Author: Mahdi Hajimohammadi
     Sensor Using: 3
     Turn Method: Reverse Wheel Turning
     Sensor Calibration: Tuning
     Sensibility : Medium
     Pioneer2
     Author: Mahdi Hajimohammadi (Convert
    Nikolai K. Pyton code Base to MATLAB code
    Base)
     Sensor Using: All 16 Sensor
     Turn Method: Increase or Decrease Left and
    Right Wheel’s Velocity
     Sensor Calibration: Tuning
     Sensibility : Hight

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