vcJoint

vcJoint is a joint that can be defined using kinematics, driven by controllers and affected by physics.

Properties
Examples

Properties

Name	Type	Access	Description
Controller	vcRobotController or vcServoController	R	Gets the controller of joint. If joint is not driven by controller, value is None.
CurrentValue	Real	RW	Defines the joint's value.
Dof	vcDof	R	Gets the Dof object of joint.
ExternalController	vcRobotController or vcServoController	R	Gets the external controller of joint. If joint is not driven by an external controller, value is None.
InitialValue	Real	RW	Defines the initial value of joint. That is, the initial state of the joint.
LagTime	Real	RW	Defines the lag time (in seconds) of joint.
MaxAcceleration	Real	RW	Defines the maximum acceleration (units/degrees per second squared) of joint.
MaxDeceleration	Real	RW	Defines the maximum deceleration (units/degrees per second squared) of joint.
MaxSpeed	Real	RW	Defines the maximum speed (units/degrees per second) of joint.
MaxValue	String	RW	Defines an expression that when evaluated returns the maximum value of joint.
MinValue	String	RW	Defines an expression that when evaluated returns the minimum value of joint.
Name	String	RW	Defines the joint's name.
SettleTime	Real	RW	Defines the settle time (in seconds) of joint.
Type	Enumeration	RW	Defines the joint type. See Joint Constants for more information.

Examples

Example. Access and modify joint values

from vcScript import *

#Access joint information via Servo/Robot Controller
comp = getComponent()
contrl = comp.findBehaviour("Controller")

#Example for returning joint values
def exampleJ(joint):
  print joint.MinValue
  print joint.MaxValue
  print joint.CurrentValue
  print joint.Type

#Joint values can be also changed in simulation
def OnRun():
  j = contrl.getJoint(0)
  j.CurrentValue = 90.0
  exampleJ(j)

def OnReset():
  j = contrl.getJoint(0)
  j.CurrentValue = 0.0
  exampleJ(j)

Example. Get joint values

from vcScript import *

comp = getComponent()
controller = comp.findBehavioursByType(VC_ROBOTCONTROLLER)[0]
joint1_as_prop = comp.getProperty(controller.Joints[0].Name)
print joint1_as_prop.MaxValue