Use keyboard input to control a robot in coppeliasim

I have a simulated space orbital robot in CoppeliaSim with a robotic arm and a vision sensor and I have to write a matab code that can control the position of the target ( the end of space robot ). For example Q would add +0.01 in the poistion and W when pressed would add -0.01 in position in regards to the robot and I need to do so for 6 ways x dircetion y direction and z direction. I would appreciate if someone could help me out with how to program this in matlab this is for my final year research project ! Thank you in advance !!

[Mushtariy]

This is my code but it is not working since matlab is not recognizing some functions ://

function catchKeyPress
% Connect to CoppeliaSim remote API server
vrep = remApi('remoteApi');
vrep.simxFinish(-1);  % Close all current connections
clientID = vrep.simxStart('127.0.0.1', 19000, true, true, 5000, 5);
% Check connection status
if clientID > -1
    disp('Connected to CoppeliaSim');
    % Create a figure window for keypress detection
    h = figure;
    set(h, 'KeyPressFcn', @(src, event) handleKeyPress(event, vrep, clientID));
    % Initialize target position
    targetPosition = [0, 0, 0];
    % Main simulation loop (replace with your simulation code)
    while ishandle(h)
        % Update your simulation with the current targetPosition
        % Your simulation code here
        % Pause for a short duration (adjust as needed)
        pause(0.1);
    end
    % Close the CoppeliaSim connection
    vrep.simxFinish(clientID);
else
    disp('Failed to connect to CoppeliaSim');
end
end
% Function to handle key presses
function handleKeyPress(event, vrep, clientID)
global targetPosition;
% Get the pressed key
keyPressed = event.Key;
% Update targetPosition based on arrow key presses
switch keyPressed
    case 'rightarrow'
        targetPosition(1) = targetPosition(1) + 0.01; % +0.01 in x-direction
    case 'leftarrow'
        targetPosition(1) = targetPosition(1) - 0.01; % -0.01 in x-direction
    case 'uparrow'
        targetPosition(2) = targetPosition(2) + 0.01; % +0.01 in y-direction
    case 'downarrow'
        targetPosition(2) = targetPosition(2) - 0.01; % -0.01 in y-direction
end
% Print the updated target position
fprintf('Updated Target Position: [%.2f, %.2f, %.2f]\n', targetPosition);
% Call your CoppeliaSim remote API function to set the target position
% Use vrep.simxSetObjectPosition(clientID, targetHandle, -1, targetPosition, vrep.simx_opmode_oneshot);
% Note: Replace targetHandle with the actual handle of your target object in CoppeliaSim
end

" Error in matlabxcop>handleKeyPress (line 48)

targetPosition(2) = targetPosition(2) + 0.01; % +0.01 in y-direction

Error in matlabxcop>@(src,event)handleKeyPress(event,vrep,clientID) (line 13)

set(h, 'KeyPressFcn', @(src, event) handleKeyPress(event, vrep, clientID)); "

[Walter Roberson]

You would get that error if:

• clientID <= -1; or
• you did not run catchKeyPress before handleKeyPress is called.

[Mushtariy]

okay thank you !! I think I was able to resolve this issue however my target in coppeliasim is not moving in +0.01 position or minus when I am trying to control it through the keyboard input :/ do you know what could be the reason?

[Walter Roberson]

Are the statements such as

targetPosition(1) = targetPosition(1) + 0.01;

being executed?

Is keyPressed one of those four possibilities?