How to disable an AMotor? dJointDisable makes simulation explode..

[jimali]

Hi guys,

 i have a project were i would like to use both velocity control of joints aka motors but also torque control. Not at the same time but i would like to switch between these. So i thought i would just use dJointDisable(motor) when switching to torque control however this seem to cause havoc on all my constraints.... Anybody tried this before? is there a better way?

cheers Jimmy

[jimali]

okay, it actually says directly in the manual how to do this by setting using dParamFMax to zero

so please ignore my question above...

/Jimmy

[Dimitris Papavasiliou]

> okay, it actually says directly in the manual how to do this by setting
> using dParamFMax to zero

You can also use the motor with an explicit torque like this: if the
torque you want to exert is positive then set dParamFMax to that torque
and dParamVel to some very large value, even infinity (1.0 / 0.0). If
the torque is negative set dParamFMax to the absolute value of that
torque and dParamVel to a very large negative value like negative
infinity (-1.0 / 0.0).

Dimitris