[ODE] Steering and rolling wheels

[whitt013]

I'm no expert, but I think using motors would give you a better outcome. i.e.

dJointSetHinge2Param(jointID, dParamVel, turnRate);
dJointSetHinge2Param(jointID, dParamVel2, speed);

You'd probably want to put a check on the first one so you don't power through 
the stops, but you might give this general idea a try if you haven't yet.

David

>===== Original Message From "Sergio Casas Yrurzum" <scasas@glup.irobot.uv.es> 
=====
>Hello everybody,
>
>I'm working on a wheeled mobile robot with ODE and I'm having problems with
>the wheels motion.
>
>My robot consists of the robot itself and three wheels, one front
>free-rotation wheel and two rear wheels that are (both) steering and rolling
>wheels at the same time.
>
>The front wheel is joined to the robot with a BallAndSocket Joint, and works
>fine.
>
>For the rear wheels I use a Hinge2 joint with the local wheel Y axis as
>rolling axis, the local Z axis as steering axis, and local X axis as the
>direction of wheel's linear displacement, and I use
>AddRelTorque(0.0,Torque,0.0) to make it roll and
>AddRelTorque(0.0,0.0,Torque) to make it steer.
>
>It works really fine if I do ONE movement (steering OR rolling) AT ONCE, but
>it causes jumping and rare motion when I make both movements at the same
>time. In adition, when steering too fast it seems to behave as if it has a
>stop limit. I tried to modify most of Hinge2 parameters (specially
>FudgeFactor) with no improvements, but the FMax parameter seems to influence
>a lot. What can be happening? Must I use another solution to this problem?
>Another kind of joint?
>
>Has anybody done something similar? If anyone has done a steering and
>rolling wheel with ODE, his/her help would be very appreciated.
>
>Thanks in advance.
>
>
>----------------------------------------------------------
>Sergio Casas Yrurzum
>Real Time Graphics Group - ARTEC
>Instituto de Robótica (Robotics Institute)
>Universidad de Valencia (University of Valencia)
>Polígono de la Coma, s/n
>46980, Paterna, Valencia
>España (Spain)
>
>E-mail: scasas@robotica.uv.es
>Web: http://robotica.uv.es/grupos/artec/English
>----------------------------------------------------------
>
>
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