virtual bool control() override { if(time < 2.0){ crawlerL->dq_target() = 1.5; crawlerR->dq_target() = 1.5; } else if(time < 3.0){ crawlerL->dq_target() = 1.0; crawlerR->dq_target() = -1.0; } else if(time < 5.0){ crawlerL->dq_target() = 1.5; crawlerR->dq_target() = 1.5; } else if(time < 6.0){ crawlerL->dq_target() = -1.0; crawlerR->dq_target() = 1.0; } time = fmod(time + dt, 6.0); return true; }
virtual bool control() override { conveyorJoint->dq_target() = 1.0; return true; }