[ODE] getting negative angle?

Neelam C tina_vipul at yahoo.com
Tue Nov 9 13:48:02 MST 2004

Hi all, 

How do we get a desired negative angle? 
desired angle = -1.898 
actual angle = -0.0045

my code goes as

jointError = desired angle - actual angle;
jointRate = dJointGetHingeAngleRate(jointID);
maxForce = +1200;
pValue = 0.6; dValue 0.1;
needVelocity = (pValue*jointError - dValue*jointRate);
dJointSetHingeParam(kJoint.jointID,     dParamFMax,             maxForce);
dJointSetHingeParam(kJoint.jointID,     dParamVel,              needVelocity);

This works very well if I want positive angle but when my desired angle is
negative this sucks!


Neelam C


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