Search found 10 matches

by shac12
01 Feb 2020, 07:24
Forum: General questions
Topic: Floor continuity issue
Replies: 3
Views: 354

Re: Floor continuity issue

Hi Coppelia,

Could I instead add a spring damper to each 4ws/4wd module ? This would more closely simulate real life as there is a rubber tire between the wheel and the ground.

Kind Regards,
Sharif
by shac12
10 Nov 2019, 08:28
Forum: General questions
Topic: using sim.addForceAndTorque to apply torque to a wheel's y axis
Replies: 1
Views: 149

Re: using sim.addForceAndTorque to apply torque to a wheel's y axis

Hi, So ive tried this and it seems to work okay. Not sure if I have my coords correct tho. uH is the handle to the steering mechanism that holds the wheel. I am receiving my torque command from a separate function hence the getstringsignal. local absAngles = sim.getObjectOrientation(uH, -1) force = ...
by shac12
10 Nov 2019, 07:48
Forum: General questions
Topic: using sim.addForceAndTorque to apply torque to a wheel's y axis
Replies: 1
Views: 149

using sim.addForceAndTorque to apply torque to a wheel's y axis

Hi, After reading the documentation of the sim.addForceAndTorque fucntion in more detail. I have realised that if a wheel is desired to steer and to drive, the torque value applied to the wheel has to change according to the yaw of the wheel as the sim.addForceAndTorque applies torque in the absolut...
by shac12
10 Nov 2019, 05:31
Forum: General questions
Topic: Floor continuity issue
Replies: 3
Views: 354

Floor continuity issue

Hi, I seem to be having an issue with my scene where the borders between floors seems to be at different heights or for some reason not contiguous. Should any object roll between resizable floor elements the contact points disappear momentarily and then reappear as soon as the object has moved past ...
by shac12
05 Nov 2019, 12:11
Forum: General questions
Topic: 4wd/4ws vehicle traction control
Replies: 4
Views: 300

Re: 4wd/4ws vehicle traction control

Hi coppelia, I ended up not using that value as it wasnt representative of what was going on. I used the getcontactinfo function and summed all the values in that to obtain the tangential force and then multiplied by the wheel radius to get torque. For anyone else having the same issue, have a look ...
by shac12
05 Nov 2019, 12:08
Forum: General questions
Topic: Clarification on sim.getContactInfo
Replies: 3
Views: 287

Re: Clarification on sim.getContactInfo

Hi coppelia, I ended up doing this and it seems to work fine. It is a reasonable estimation of the applied torque. It sums up all the force that the various contacts experience. Perhaps I might suggest that there be an inbuilt function to just give the sum instead of looping through all the contact ...
by shac12
31 Oct 2019, 07:04
Forum: General questions
Topic: Clarification on sim.getContactInfo
Replies: 3
Views: 287

Re: Clarification on sim.getContactInfo

Hi,

I would also like to ask whether the returned reaction force is with respect to the absolute frame of reference. i.e a wheel rolling about the y axis would generate a reaction force in the x direction.

Kind Regards,
Sharif
by shac12
31 Oct 2019, 06:38
Forum: General questions
Topic: Clarification on sim.getContactInfo
Replies: 3
Views: 287

Clarification on sim.getContactInfo

Hi,

I am trying to use the sim.getContactInfo function to get the reaction forces on a wheel. The explanation of the index argument is not exactly clear. If I want the reaction forces at all the contact points what index am I meant to input ?

Kind Regards,
Sharif
by shac12
31 Oct 2019, 04:58
Forum: General questions
Topic: 4wd/4ws vehicle traction control
Replies: 4
Views: 300

Re: 4wd/4ws vehicle traction control

Hi coppelia, Thanks for the quick reply. I have been doing that but the values are really low and do not match the torque values I am applying into the wheel itself. I have an external controller that is applying a torque to the wheels using this section of the code. I want to measure the reaction t...
by shac12
29 Oct 2019, 05:10
Forum: General questions
Topic: 4wd/4ws vehicle traction control
Replies: 4
Views: 300

4wd/4ws vehicle traction control

Hi, I have a 4wd/4ws vehicle in VREP that i am attempting to perform traction control upon. My method of traction control involves knowing the vehicles body acceleration, the angular velocity of each wheel and a measure of the load that wheel is experiencing. The body acceleration i will obtain usin...