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Simulation stop with SetVelocityTarget()

asked 2017-10-18 06:33:05 -0500

ronan gravatar image

Hello,

I'm writing a plugin to control the velocity of a joint to simulate a brushless motor I try to use the SetVelocityTarget() function with the SetVelocityPID() function. The plugin compile correctly but when I publish a new message to set the velocity, the simulation stop : the model disassembles itself at the origin of the world.

I already used the SetPositionTarget() with the PID and it works well.

Any ideas ?

Thanks

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answered 2017-10-18 11:10:27 -0500

nkoenig gravatar image

Your PID gains might be set too high. It's difficult to tell without more information. Could you post your model and sample code?

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You can also start with low PID gains and work up to values that work well.

nkoenig gravatar imagenkoenig ( 2017-10-18 11:12:20 -0500 )edit

Yes, actually by changing the PID gain it works. That's it. Thanks nkoenig

ronan gravatar imageronan ( 2017-10-19 14:40:40 -0500 )edit
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Asked: 2017-10-18 06:33:05 -0500

Seen: 138 times

Last updated: Oct 18 '17