joint.setParam (PARAM_N.dParamLoStop1, 0); joint.setParam (PARAM_N.dParamHiStop1, 0); break; joint.setParam (PARAM_N.dParamLoStop2, 0); joint.setParam (PARAM_N.dParamHiStop2, 0); break; joint.setParam (PARAM_N.dParamLoStop2, -45.0*3.14159267/180.0); joint.setParam (PARAM_N.dParamHiStop2, 45.0*3.14159267/180.0); break; case 'l': case 'L': joint.setParam (PARAM_N.dParamLoStop2, -dInfinity); joint.setParam (PARAM_N.dParamHiStop2, dInfinity); break; joint.setParam (PARAM_N.dParamVel1, vel); System.out.println("Velocity = " + vel + " FMax = 2"); joint.setParam (PARAM_N.dParamVel1, vel); System.out.println("Velocity = " + vel + " FMax = 2");
joint.setParam (PARAM_N.dParamLoStop1, 0); joint.setParam (PARAM_N.dParamHiStop1, 0); break; joint.setParam (PARAM_N.dParamLoStop2, 0); joint.setParam (PARAM_N.dParamHiStop2, 0); break; joint.setParam (PARAM_N.dParamLoStop2, -45.0*3.14159267/180.0); joint.setParam (PARAM_N.dParamHiStop2, 45.0*3.14159267/180.0); break; case 'l': case 'L': joint.setParam (PARAM_N.dParamLoStop2, -dInfinity); joint.setParam (PARAM_N.dParamHiStop2, dInfinity); break; joint.setParam (PARAM_N.dParamVel1, vel); std_cout("Velocity = ",vel," FMax = 2",'\n'); joint.setParam (PARAM_N.dParamVel1, vel); std_cout("Velocity = ",vel," FMax = 2",'\n');
joint.setParam (PARAM_N.dParamVel3, vel); joint.setParam(PARAM_N.dParamFMax3, 2); System.out.println("Velocity = " + vel + " FMax = 2"); joint.setParam (PARAM_N.dParamVel3, vel); joint.setParam(PARAM_N.dParamFMax3, 2); System.out.println("Velocity = " + vel + " FMax = 2"); joint.setParam (PARAM_N.dParamFMax1, fmax); joint.setParam (PARAM_N.dParamFMax2, fmax); joint.setParam (PARAM_N.dParamFMax3, fmax);
joint.setParam (PARAM_N.dParamVel3, vel); joint.setParam (PARAM_N.dParamFMax3, 2); std_cout("Velocity = ",vel," FMax = 2",'\n'); joint.setParam (PARAM_N.dParamVel3, vel); joint.setParam (PARAM_N.dParamFMax3, 2); std_cout("Velocity = ",vel," FMax = 2",'\n'); joint.setParam (PARAM_N.dParamFMax1, fmax); joint.setParam (PARAM_N.dParamFMax2, fmax); joint.setParam (PARAM_N.dParamFMax3, fmax);