[ODE] AMotorUser dilemma

[Jon Watte]

The documentation states that the AMotor axes are always specified in global coordinates, even if the axis is relative to one of the objects. The "relative to" has more to do with how the constraints are resolved. 

I've found that it works "as I expect" if I set rel to "global" and forget about body-relative axes.

Cheers,

			/ h+


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of Royce
Mitchell III
Sent: Sunday, January 11, 2004 9:52 PM
To: ode at q12.org
Subject: [ODE] AMotorUser dilemma



Anyways, the problem I'm having is that I thought a rel=1 would cause
the motor's axis to stay aligned with the robot's body. For some
reason, this is not the case, but it is world-aligned. If I tell it to
spin all 4 motors' X axes positive, then my robot always goes North
instead of forward. In order to rotate the robot, I would have to
constantly adjust the motor's velocities as the robot turns.
Otherwise, it only travels about 80 degrees and then quits, based on
the rotation parameters I'm throwing at it.

Is there something I'm missing :(  Is there a way to accomplish what I
want without having to do a bunch of matrix transformations and
constantly recalculating my velocities?

Thanks,

Royce Mitchell III

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