public override void Write(float value)
{
state = value * StepLength;
if (DoApplyUnityJointLimits)
{
ApplyLimits();
}
jointStateWriter.Write(state);
}
private void ProcessMessage()
{
float deltaTime = Time.timeSinceLevelLoad - lastMessageTime;
state += currentAxisValue * MaxVelocity * deltaTime;
if (useLimits)
{
ApplyLimits();
}
lastMessageTime = Time.timeSinceLevelLoad;
jointStateWriter.Write(urdfJoint.IsRevoluteOrContinuous ? state * Mathf.Deg2Rad : state);
isMessageReceived = false;
}