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(); }