[ODE] Front wheels of car

Jon Watte (ODE) hplus-ode at mindcontrol.org
Mon Jan 15 14:41:40 MST 2007

What I did was set the desired angle using the hi/lo stops on the joint, 
rather than use an amotor. Setting the hi/lo stops will apply the 
necessary force to keep them in sync, without you having to worry about 
velocities etc.

For Ackermann, I just provided a tunable parameter where the amount of 
turn of the inner wheel is X times the outer wheel, which is not 
perfectly accurate, but actually worked very well in reality.


             / h+

Remi Ricard wrote:
> Hi,
> I have problems with the front wheel of my car.
> I must follow the "Ackermann steering" 
> (http://en.wikipedia.org/wiki/Ackermann_steering_geometry)
> so they don't have the same angles. They have a small difference.
> For now they are both connected to the frame with Hinge2 and I change 
> the orientation of each wheel by calculating their new angle.
> (Both wheel must have the same center of rotation but they have a 
> different radius). Using this new angle with the current angle I find a 
> speed and use this value to set the velocity of the joint.
> This is working well most of the time.
> The problem arise when one of the wheel get stuck then they go out of sync.
> So how can I keep them in sync ??
> I was thinking of setting a bar/body between the two but how can I 
> attach the bar to the first axis of the Hinge2.
> Any help will be welcome.
> Remi
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