Couldn't spin and follow the goal speed

[PierrePeng]

Hi, I have a four-wheel car model. And I want to control the car following the goal speed. The command are only move forward and spin without drift.

Now the car can follow the linear goal speed, **but it can't follow the rotate goal speed in spin action. And the car will drift when it spins specially in low speed.

What I do is to set the front_left_wheel and rear_left_whell to 175 degree/s, front_right_wheel and rear_right_whell to -175 degree/s running in the ground plane. So the ideal goal speed is 1rad/s.

The distance between left wheel and right wheel is 0.49. The wheel radius is 0.08.
scout_mini_v6.zip

[hawkeyeking]

Hi Pierre, please check the responses to your post in the NVidia Developer Forums. Cheers!