public JointData(AssemblyJoint joint, String name)
{// set all the default values
Name = name;
jointOfType = joint;
try
{
ReferenceKeyManager refKeyMgr = StandardAddInServer.m_inventorApplication.ActiveDocument.ReferenceKeyManager;
byte[] refKey = new byte[0];
joint.GetReferenceKey(ref refKey, 0);
RefKey = refKeyMgr.KeyToString(refKey);
} catch (Exception e)
{
MessageBox.Show(e.ToString());
}
Driver = DriveTypes.NoDriver;
Wheel = WheelType.NotAWheel;
Friction = FrictionLevel.None;
Diameter = InternalDiameter.PointFive;
Pressure = Pressure.psi60;
Stages = Stages.SingleStageElevator;
PWMport = 1;
PWMport2 = 1;
CANport = 1;
CANport2 = 1;
DriveWheel = false;
PWM = true;
InputGear = 1;
OutputGear = 1;
SolenoidPortA = 1;
SolenoidPortB = 1;
RelayPort = 1;
HasBrake = false;
BrakePortA = 1;
BrakePortB = 1;
if (joint.Definition.JointType == AssemblyJointTypeEnum.kCylindricalJointType || joint.Definition.JointType == AssemblyJointTypeEnum.kSlideJointType)
{// if the assembly joint is linear
Rotating = false;
}
else
{// set the combo box choices to rotating
Rotating = true;
}
HasLimits = false;
JointFrictionLevel = 0;
HasJointFriction = false;
}
public void SetFrictionLevel(FrictionLevel level)
{
switch (level)
{
case FrictionLevel.HIGH:
forwardExtremeSlip = 1; //Speed of max static friction force.
forwardExtremeValue = 10; //Force of max static friction force.
forwardAsympSlip = 1.5f; //Speed of leveled off kinetic friction force.
forwardAsympValue = 8; //Force of leveld off kinetic friction force.
if (type == WheelType.OMNI) //Set to relatively low friction, as omni wheels can move sidways.
{
sideExtremeSlip = 1; //Same as above, but orthogonal to the movement of the wheel.
sideExtremeValue = .01f;
sideAsympSlip = 1.5f;
sideAsympValue = .005f;
}
else
{
sideExtremeSlip = 1;
sideExtremeValue = 10;
sideAsympSlip = 1.5f;
sideAsympValue = 8;
}
break;
case FrictionLevel.MEDIUM:
forwardExtremeSlip = 1f;
forwardExtremeValue = 7;
forwardAsympSlip = 1.5f;
forwardAsympValue = 5;
if (type == WheelType.OMNI)
{
sideExtremeSlip = 1;
sideExtremeValue = .01f;
sideAsympSlip = 1.5f;
sideAsympValue = .005f;
}
else
{
sideExtremeSlip = 1;
sideExtremeValue = 7;
sideAsympSlip = 1.5f;
sideAsympValue = 5;
}
break;
case FrictionLevel.LOW:
forwardExtremeSlip = 1;
forwardExtremeValue = 5;
forwardAsympSlip = 1.5f;
forwardAsympValue = 3;
if (type == WheelType.OMNI)
{
sideExtremeSlip = 1;
sideExtremeValue = .01f;
sideAsympSlip = 1.5f;
sideAsympValue = .005f;
}
else
{
sideExtremeSlip = 1;
sideExtremeValue = 5;
sideAsympSlip = 1.5f;
sideAsympValue = 3;
}
break;
}
}