[ODE] Controlling AMotors

[Jon Watte]

You're probably suffering from the problem where trying to set a 
Low before setting a High will not work, as the setting code does 
not allow you to make the joint constraints inconsistent even 
temporarily. A good fix would be to update BOTH low and high if 
you set one of them "on the other side" of the other.

Meanwhile, if you always set your constraints like this, it will 
probably work better:

  SetLowConstraint()
  SetHighConstraint()
  SetLowConstraint()

Yup, re-setting the low constraint ensures that no matter what 
direction you change the constraints in, you'll end up with what 
you actually wanted.

Cheers,

			/ h+


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of John
Buehler
Sent: Saturday, October 09, 2004 4:29 PM
To: Ode at Q12. Org
Subject: [ODE] Controlling AMotors


How does one control an AMotor once it has been attached to a pair of bodies
connected through a ball joint?  I want to control the relative angles
between the two bodies by setting dParamLoStop and dParamHiStop pairs for
each axis.  Unfortunately, if I set those parameters to a pair of values
that is not inclusive of zero degrees, the joint flops around forever.  The
flop speed is dependent on how far away from zero degrees the hi/lo pair has
been set.  Further, constraining the lo/hi pair to zero does not restrict
the range of motion of the joint.

I've been clowning with this thing for a couple days and if anyone could
throw me a bone it would be appreciated.  The ODE examples just don't
provide any insights, and the documentation is a bit less than helpful.

JB


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