public SimplePendulumSimulation() { SimplePendulumRobot robot = new SimplePendulumRobot(); robot.setController(new SimplePendulumController(robot)); SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(); parameters.setDataBufferSize(32000); sim = new SimulationConstructionSet(robot, parameters); sim.setDT(DT, 20); sim.setGroundVisible(true); sim.setCameraPosition(0, -9.0, 0.6); sim.setCameraFix(0.0, 0.0, 0.70); sim.setSimulateDuration(60.0); // sets the simulation duration to 60 seconds Thread myThread = new Thread(sim); myThread.start(); }