[ODE] Yet another question about servo emulation

[Nate W]

On Sat, 24 May 2003, Shamyl Zakariya wrote:

> Wait, if a hinge has a built-in motor, can I just call :
> 		dJointSetHingeParam( _hinge, dParamFMax, _force );
> 		dJointSetHingeParam( _hinge, dParamVel, velocity );
> 
> to move it, like it were a motor? 

Works for me. :-)

> Also, the locking of the motor was the only thing keeping it from
> blowing up every time... whereas with the lock it "only" blows up now
> and then.

Try this, then:

 	dReal velocity = da * _speed * _gain;


I'm not sure what your units of speed are / should be, but if the velocity
it too high, that can introduce instabilities.  You may also want to try
reducing your FMax parameter.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com