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Refactor the robot drivetrain classes (SimMotor, SimRobotWheel, SimRobotDrivetrain) to support simple or advanced physics. This is an enhancement to #76
Simple physics:
The way it is set up now. Each SimMotor takes in a maximum output force, and the drivetrain distributes that force among the wheels
Advanced physics:
SimMotor takes in Free speed, stall torque, etc
Motor Groups act like gearboxes where reductions can be specified
Torque produced by wheels is calculated and converted into pushing force
Potential for SimMotor to calculate current draw
A first step will be to refactor the code to allow a swappable "drivetrain physics" module, and write a "SimpleDrivetrainPhysics" module that behaves the same way existing code does
The text was updated successfully, but these errors were encountered:
Refactor the robot drivetrain classes (
SimMotor
,SimRobotWheel
,SimRobotDrivetrain
) to support simple or advanced physics. This is an enhancement to #76Simple physics:
SimMotor
takes in a maximum output force, and the drivetrain distributes that force among the wheelsAdvanced physics:
SimMotor
takes in Free speed, stall torque, etcSimMotor
to calculate current drawA first step will be to refactor the code to allow a swappable "drivetrain physics" module, and write a "SimpleDrivetrainPhysics" module that behaves the same way existing code does
The text was updated successfully, but these errors were encountered: