public ValkyrieSliderBoard(
SimulationConstructionSet scs,
YoVariableRegistry registry,
DRCRobotModel drcRobotModel,
ValkyrieSliderBoardType sliderBoardType) {
selectedJoint =
new EnumYoVariable<>("selectedJoint", registry, ValkyrieSliderBoardSelectableJoints.class);
selectedJoint.set(ValkyrieSliderBoardSelectableJoints.RightKneeExtensor);
final SliderBoardConfigurationManager sliderBoardConfigurationManager =
new SliderBoardConfigurationManager(scs);
switch (sliderBoardType) {
case ON_BOARD_POSITION:
setupSliderBoardForOnBoardPositionControl(
registry, drcRobotModel.getGeneralizedRobotModel(), sliderBoardConfigurationManager);
break;
case TORQUE_PD_CONTROL:
setupSliderBoardForForceControl(
registry, drcRobotModel.getGeneralizedRobotModel(), sliderBoardConfigurationManager);
break;
case WALKING:
new WalkControllerSliderBoard(scs, registry, drcRobotModel);
setupJoyStickAndTreadmill(registry);
break;
case GRAVITY_COMPENSATION:
new InverseDynamicsJointController.GravityCompensationSliderBoard(
scs,
drcRobotModel.createFullRobotModel(),
registry,
CommonNames.doIHMCControlRatio.toString(),
0.0,
1.0);
break;
}
sliderBoardConfigurationManager.loadConfiguration(selectedJoint.getEnumValue().toString());
}
