Joint electrical engine mode

Requests or suggestions for new features
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OfekEshet
Posts: 3
Joined: 16 Jan 2018, 12:14

Joint electrical engine mode

Post by OfekEshet » 15 Jun 2018, 09:10

Hello

I think that there is no way to simulate a joint which works like an electrical engine in vrep.
I have tried a lot of things, including custome control, and everytime i failed to simulate the electrical engine.

I would like to know if there is a way to simulate such an engine in vrep? and if not I would like to have such Joint mode, in order to create a full functional Frc robot simulation.
https://github.com/GreenBlitz/SimulationInVrep this is the current state with an electrical engine it would be finished.

Thanks

coppelia
Site Admin
Posts: 6747
Joined: 14 Dec 2012, 00:25

Re: Joint electrical engine mode

Post by coppelia » 15 Jun 2018, 15:17

Hello,

your simulated motor can have different velocity or torque profiles, but you'll have to implement this yourself inside of a joint control callback function.

Cheers

OfekEshet
Posts: 3
Joined: 16 Jan 2018, 12:14

Re: Joint electrical engine mode

Post by OfekEshet » 16 Jun 2018, 15:57

Thanks for replying,

Its a great help, but I have tried this way once and I got the feeling that vrep changed the values, which I gave him.
Is that correct?

Moreover is the target possition change the movement of the joint? i would like it to move only by the velocity and torque values which i gives him according to an electrical engine.

Thanks and have a nice weekend.

coppelia
Site Admin
Posts: 6747
Joined: 14 Dec 2012, 00:25

Re: Joint electrical engine mode

Post by coppelia » 20 Jun 2018, 09:02

Following illustrates how you can set the target velocity and max. force/torque for a force, controlled from your algorithm:

Code: Select all

function sysCall_jointCallback(inData)
    local targetVelocity=0.2 -- in rad/sec
    local maxForce=15


    local outData={}
    outData.velocity=targetVelocity
    outData.force=maxForce
    return outData
end
Cheers

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