Motor Velocity

Watch the video tutorial on this subject!

This stimulus makes a motorized joint have a user defined velocity for a set period of time. Only the Hinge and Prismatic joints currently have motors. Also, the result of this stimulus depends in part on how the motor is configured. If the Servo Motor property is true then this is a servo motor instead of a standard DC motor. The input to a servo motor specifies the position the motor is to maintain. So in that case this stimulus determines the position instead of the velocity.

There is also a bug in the motor system currently. At smaller unit scales, centimeters vs. meters, the motor may not be able to produce the desired velocity. We are currently working on this problem.

Motor Velocity Properties

Always Active
If this property is true then the stimulus is always active and the start and end times are ignored. If it is false then the stimulus is only applied between the start and end times.
Default value: False
Acceptable Values: True/False.

Body Part
A read-only property that tells which motorized joint will be moved.

Disable When Done
If this is true then when the stimulus is finished the motor on the joint is disabled. This means it can move freely due to the other forces applied to it. If it is false then the motor will stay on and maintain the last position.
Default value: False
Acceptable Values: True/False.

Enabled
Determines if this stimulus is applied or not. If this is false then the stimulus is ignored. If it is true then it is applied.
Default value: True
Acceptable Values: True/False.

End Time
This is the time when the stimulus is stopped.
Default value: 5 s
Acceptable Values: Any value greater than the Start Time.

Name
The name of the stimulus.
Default value: Stimulus_?
Acceptable Values: Any string.

Structure
A read-only property that tells which structure the selected joint is contained within.

Start Time
This is the time when the stimulus will start.
Default value: 0 s
Acceptable Values: Any value less than the End Time and greater than or equal 0.

Velocity
This is the velocity the motorized joint will move with during the stimulus period. This is only visible if the user has set the Servo Motor property of the joint to False.
Default value: 0 rad/s
Acceptable Values: Any value.

Position
This is the position the motorized joint will maintain during the stimulus period. This is only visible if the user has set the Servo Motor property of the joint to True.
Default value: 0 rad
Acceptable Values: Any value between PI and -PI.