Who wants to help me balance a segway? ( fun, I hope )
Post: #32TomorrowPlusX Wrote:All this, yet nobody wants to help me balance my segway!There IS NO WAY we can balance a segway if we can't agree on rads/degs! ...
You *are* using metric though aren't you?
Post: #33
I tried fiddling with this a bit, but I don't get it how the bloody motors work. Do I have to set targetRate? Can't I just set the torque I want directly? Because, having an unknown type of controller trying to adjust the motor's speed behind the scenes isn't exactly helpful.
Post: #34
You can set torque and target rate.
someMotor.setTorque( ... )
someMotor.setTargetRate(... )
I thought I included that in the readme. If I didn't sorry.
someMotor.setTorque( ... )
someMotor.setTargetRate(... )
I thought I included that in the readme. If I didn't sorry.
Post: #35
What I mean is that just setting torque doesn't seem to do anything, if I don't set the target rate, which i really don't want to do, as the physics should take care of spinning up the motors in response to the torque.
Post: #36
I see. I think my concept of torque is different than yours, and since I have no engineering background, mine's probably incorrect.
My "motor" is a shim around ODE's motor type, where you specify rotation rate, and how much torque to apply to maintain that rate. If you set a rate of 2pi, it will rotate once per second. But if your torque is zero, it won't rotate at all. All torque is -- in this case -- is the force being applied to reach the target rate.
My "motor" is a shim around ODE's motor type, where you specify rotation rate, and how much torque to apply to maintain that rate. If you set a rate of 2pi, it will rotate once per second. But if your torque is zero, it won't rotate at all. All torque is -- in this case -- is the force being applied to reach the target rate.
Post: #37
Well, this sucks, then. Possibly, this is also why the control scheme fails so badly. I tried emulating pure torque based control, but it causes pretty bad instabilities.
Can you possibly replace the ODE motor by something that simply applies a torque (or two opposing forces on a hinge that create torque) to a hinge or something?
Can you possibly replace the ODE motor by something that simply applies a torque (or two opposing forces on a hinge that create torque) to a hinge or something?
