【matlab】vrep小车与matlab通信并模拟

【实例简介】

matlab与vrep实现通信，并且绘制gui

【实例截图】vrep小车与matlab通信并且绘制模型

【核心代码】

[returnCode,positions]=vrep.simxGetObjectPosition(clientID,rover,-1,vrep.simx_opmode_blocking);
        [~,angles]=vrep.simxGetObjectOrientation(clientID,rover,-1,vrep.simx_opmode_blocking);
        %             [returnCode,Velocities]=vrep.simxGetStringSignal(clientID,'scan Velocity',vrep.simx_opmode_buffer);
        [returnCode,Velocities]=vrep.simxGetStringSignal(clientID,'scan Velocity',vrep.simx_opmode_oneshot);
        %             Velocities
        Velocities=vrep.simxUnpackFloats(Velocities);
        % set the radius of the wheel are 1
        radius=1;
        Velocities=Velocities*radius;
        
        
        set(handles.edit1,'string',num2str(positions(1)));
        set(handles.edit2,'string',num2str(positions(2)));
        set(handles.edit3,'string',num2str(angles(3)));
        
        
        if length(Velocities)==3
            set(handles.edit6,'string',num2str(Velocities(1)));
            set(handles.edit7,'string',num2str(Velocities(2)));
            set(handles.edit8,'string',num2str(Velocities(3)));
            % k-- 比例因子
            k1=Velocities(1)/10;
            k2=Velocities(2)/10;
            k3=Velocities(3)/10;
            
            q1=quiver(handles.axes2,4,8,k1*2,k1*0,'LineWidth',1,'Color','r','MaxHeadSize',.3);
            q2=quiver(handles.axes2,4-2*sqrt(3),2,-1*k2,sqrt(3)*k2,'LineWidth',1,'Color','r','MaxHeadSize',.3);
            q3=quiver(handles.axes2,4 2*sqrt(3),2,-1*k3,-sqrt(3)*k3,'LineWidth',1,'Color','r','MaxHeadSize',.3);
            
            % 如果不希望它闪烁，只需要把这个设置的大点就行了
            drawnow limitrate;
%             pause(0.001)
            delete(q1);
            delete(q2);
            delete(q3);
            
            
            
            
        end