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Joints
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CoupledJointDriveTrain.openplx

Robotics/Joints/CoupledJointDriveTrain.openplx

CoupledJointDriveTrain

CoupledJointDriveTrain is Physics3D.System:
    .doc: """
Implements a drive train coupling between two actuators,
including a sensor for position and velocity of the interconnecting shaft.
"""
    shaft is DriveTrain.Shaft:
        inertia.inertia: 1E-6
        angle_output.enabled: true
        angular_velocity_output.enabled: true

    sensor is Robotics.Signals.Sensor:
        outputs: [shaft.angle_output, shaft.angular_velocity_output]

    primary_actuator is DriveTrain.Actuator:
        connector_1d: shaft.output

    mimic_actuator is DriveTrain.Actuator:
        connector_1d: shaft.output