Troxid/vrep-api-scala

Simple for use Scala binding for Coppelia Robotics V-REP simulator (remote API)

Download

Step 1. Add the JitPack repository to your build file

Add it in your root settings.gradle at the end of repositories:

	dependencyResolutionManagement {
		repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
		repositories {
			mavenCentral()
			maven { url 'https://jitpack.io' }
		}
	}

Add it in your settings.gradle.kts at the end of repositories:

	dependencyResolutionManagement {
		repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
		repositories {
			mavenCentral()
			maven { url = uri("https://jitpack.io") }
		}
	}

Add to pom.xml

	<repositories>
		<repository>
		    <id>jitpack.io</id>
		    <url>https://jitpack.io</url>
		</repository>
	</repositories>

Add it in your build.sbt at the end of resolvers:

 
    resolvers += "jitpack" at "https://jitpack.io"

Add it in your project.clj at the end of repositories:

 
    :repositories [["jitpack" "https://jitpack.io"]]

Step 2. Add the dependency

	dependencies {
		implementation 'com.github.Troxid:vrep-api-scala:0.1'
	}

	dependencies {
		implementation("com.github.Troxid:vrep-api-scala:0.1")
	}

	<dependency>
	    <groupId>com.github.Troxid</groupId>
	    <artifactId>vrep-api-scala</artifactId>
	    <version>0.1</version>
	</dependency>


                            
    libraryDependencies += "com.github.Troxid" % "vrep-api-scala" % "0.1"


                            
    :dependencies [[com.github.Troxid/vrep-api-scala "0.1"]]

Readme

v-rep scala

Simple Scala/Java binding for Coppelia Robotics V-REP simulator (remote API)

Getting started

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.txt and use it to connect to the server simulator

Currently implemented things

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

Example

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)
}

More examples (scala)

Connection

PioneerP3dx control

Test all components

More examples (java)

Connection

PioneerP3dx control

Test all components