//this class obtains the joint data from ode and passes the values on
//this eventually interfaces with joints in model for now fixed values
public OdeLogicalJoint()
{
filter = new PidFilter (6, 0.3, 0.0, 100);
active = false;
verge = 0;
speedSetpoint = 0;
number = -1;
vel = 1;
acc = 1;
}
public PidFilter(PidFilter f)
{
error_old=f.error_old;
Kp=f.Kp;
Kd=f.Kd;
Ki=f.Ki;
Umax = f.Umax;
Sn = f.Sn;
}