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Robotics/Joints/FlexibleJointDriveTrain.openplx

FlexibleJointDriveTrain

FlexibleJointDriveTrain is Physics3D.System:
    motor_shaft is DriveTrain.Shaft
    gear is DriveTrain.Gear:
        charges: [motor_shaft.output, gear_shaft.input]
    gear_shaft is DriveTrain.Shaft
    motor_shaft.angle_output.enabled: true
    motor_shaft.angular_velocity_output.enabled: true
    gear.torque_output.enabled: true
    sensor is Robotics.Signals.Sensor:
        outputs: [motor_shaft.angle_output, motor_shaft.angular_velocity_output, gear.torque_output]

    hinge_actuator is DriveTrain.HingeActuator:
        connector_1d: gear_shaft.output