[Opal-commits] SF.net SVN: opal:[468] opal/trunk/src

[<tyl...@us...>]

Revision: 468
          http://opal.svn.sourceforge.net/opal/?rev=468&view=rev
Author:   tylerstreeter
Date:     2009-04-29 22:25:32 +0000 (Wed, 29 Apr 2009)

Log Message:
-----------
Made several updates to things related to the servo motor.  Changed the desired velocity to use deg/sec (was accidentally using rad/sec before).  Fixed a problem with get/setDesiredAngleNorm() when joint limits are not enabled.  Gave all motors access to the simulator step size, which can be used within the motor updates (servo changes required access to this value).  Changed the servo's "restore speed" interpretation: now it represents a time constant (smaller is faster) instead of a speed scalar (larger is faster).  Changed the ODE joint fudge factor from 0.1 to 0.5 (closer to the ODE default value).  Updated many comments in ServoMotor.h/.cpp.

Modified Paths:
--------------
    opal/trunk/src/Defines.h
    opal/trunk/src/Joint.h
    opal/trunk/src/Motor.cpp
    opal/trunk/src/Motor.h
    opal/trunk/src/ODEJoint.cpp
    opal/trunk/src/ServoMotor.cpp
    opal/trunk/src/ServoMotor.h
    opal/trunk/src/ServoMotorData.h
    opal/trunk/src/Simulator.cpp


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