/** Is the joint motor enabled? */ public boolean isMotorEnabled () { return joint.isMotorEnabled(); }
@Override public void step(TestbedSettings settings) { super.step(settings); addTextLine("Keys: (f) toggle friction, (m) toggle motor"); float torque = m_joint1.getMotorTorque(1); Formatter f = new Formatter(); addTextLine(f.format("Friction: %b, Motor Force = %5.0f, ", m_joint2.isMotorEnabled(), torque) .toString()); f.close(); }
@Override public void keyPressed(char argKeyChar, int argKeyCode) { switch (argKeyChar) { case 'f': m_joint2.enableMotor(!m_joint2.isMotorEnabled()); getModel().getKeys()['f'] = false; break; case 'm': m_joint1.enableMotor(!m_joint1.isMotorEnabled()); getModel().getKeys()['m'] = false; break; } }
@Override public void keyPressed(char argKeyChar, int argKeyCode) { switch (argKeyChar) { case 'l': m_joint.enableLimit(!m_joint.isLimitEnabled()); getModel().getKeys()['l'] = false; break; case 'm': m_joint.enableMotor(!m_joint.isMotorEnabled()); getModel().getKeys()['m'] = false; break; case 's': m_joint.setMotorSpeed(-m_joint.getMotorSpeed()); getModel().getKeys()['s'] = false; break; } }
@Override public void step(TestbedSettings settings) { super.step(settings); addTextLine("Keys: (f) toggle friction, (m) toggle motor"); float torque = m_joint1.getMotorTorque(1); Formatter f = new Formatter(); addTextLine(f.format("Friction: %b, Motor Force = %5.0f, ", m_joint2.isMotorEnabled(), torque) .toString()); f.close(); }
builder.setLowerLimit(j.getLowerLimit()); builder.setUpperLimit(j.getUpperLimit()); builder.setEnableMotor(j.isMotorEnabled()); builder.setMaxMotorForce(j.getMaxMotorForce()); builder.setMotorSpeed(j.getMotorSpeed());
@Override public void keyPressed(char argKeyChar, int argKeyCode) { switch (argKeyChar) { case 'f': m_joint2.enableMotor(!m_joint2.isMotorEnabled()); getModel().getKeys()['f'] = false; break; case 'm': m_joint1.enableMotor(!m_joint1.isMotorEnabled()); getModel().getKeys()['m'] = false; break; } }
@Override public void keyPressed(char argKeyChar, int argKeyCode) { switch (argKeyChar) { case 'l': m_joint.enableLimit(!m_joint.isLimitEnabled()); getModel().getKeys()['l'] = false; break; case 'm': m_joint.enableMotor(!m_joint.isMotorEnabled()); getModel().getKeys()['m'] = false; break; case 's': m_joint.setMotorSpeed(-m_joint.getMotorSpeed()); getModel().getKeys()['s'] = false; break; } }