public StewartPlatformSimulation() {
StewartPlatformRobot StewartPlatform = new StewartPlatformRobot("StewartPlatform");
StewartPlatform.setController(
new StewartPlatformController(StewartPlatform, "stewartPlatformSimulation"));
sim = new SimulationConstructionSet(StewartPlatform);
StewartPlatform.setGravity(0.0); // -9.81);
// StewartPlatform View:
// sim.setCameraFix(45.0,0.0,18.0);
// sim.setCameraPosition(-64.0,100.0,8.0);
sim.setDT(0.0004, 50);
sim.setCameraTracking(false, true, true, false);
sim.setCameraDolly(false, true, true, false);
// Set up some graphs and entry boxes:
sim.setupGraph(new String[] {"q_platform_x", "q_d_x"});
sim.setupGraph(new String[] {"q_platform_y", "q_d_y"});
sim.setupGraph(new String[] {"q_platform_z", "q_d_z"});
sim.setupGraph(new String[] {"q_yaw", "q_d_yaw"});
sim.setupGraph(new String[] {"q_roll", "q_d_roll"});
sim.setupGraph(new String[] {"q_pitch", "q_d_pitch"});
// sim.setupGraph("q_ball_z");
// sim.setupGraph(new String[]{"qd_ball_x", "qd_ball_z"} );
// sim.setupEntryBox("k_loop");
// sim.setupEntryBox("b_loop");
// sim.setupEntryBox("Fx");
// sim.setupEntryBox("Fy");
// sim.setupEntryBox("Fz");
// sim.setupEntryBox("q_d_x");sim.setupEntryBox("q_d_y");sim.setupEntryBox("q_d_z");
// sim.setupEntryBox("k_x");sim.setupEntryBox("k_y");sim.setupEntryBox("k_z");
// sim.setupEntryBox("b_x");sim.setupEntryBox("b_y");sim.setupEntryBox("b_z");
sim.setupEntryBox("x_amp");
sim.setupEntryBox("y_amp");
sim.setupEntryBox("z_amp");
sim.setupEntryBox("x_freq");
sim.setupEntryBox("y_freq");
sim.setupEntryBox("z_freq");
sim.setupEntryBox("y_phase");
// Start the simulation
Thread myThread = new Thread(sim);
myThread.start();
}
