rotationalmotor.md

RotationalMotor

Derived from Motor.

RotationalMotor {
  SFString name      "rotational motor"                                                                                                # any string
  SFFloat  maxTorque 10                                                                                                                # [0, inf)
  SFString sound     "https://raw.githubusercontent.com/cyberbotics/webots/{{ webots.version.major }}/projects/default/worlds/sounds/rotational_motor.wav" # any string
}

Description

A RotationalMotor node can be used to power either a HingeJoint or a Hinge2Joint to produce a rotational motion around the choosen axis.

Field Summary

• The name field specifies the name identifier of the motor device. This the name to which the wb_robot_get_device function refer. It defaults to "rotational motor".

• The maxTorque field specifies both the upper limit and the default value for the motor available torque and is expressed in newton meter [N⋅m]. The available torque is the torque that is available to the motor to perform the requested motions. When used in velocity control, this maximum torque is always applied (with the correct sign) until the target speed is reached, more details are available here. The wb_motor_set_available_torque function can be used to change the available torque at run-time. The value of maxTorque should always be zero or positive (the default value is 10 N⋅m). A small maxTorque value may result in a motor being unable to move to the target position because of its weight or other external forces.